Container, barrier system and method

Abstract

The invention relates to a container (20), in particular a beta container, for a barrier system, in particular an isolator system (10), wherein the container (20) has a feed device (24) for feeding at least one component (32), in particular for a processing system (30), into the barrier system (10), wherein the feed device (24) has a movable receiving device (26) for receiving the at least one component (32), and wherein the receiving device (26) has a coupling unit (28) for interlockingly coupling to a handling device (46) of the barrier system (10). The present invention also relates to a barrier system and a method.

Description

Containers, barrier system and procedures

[0001] The present invention relates to a container, in particular a beta container, for a barrier system, in particular an isolator system, wherein the container has a feeding device for feeding at least one component, in particular for a processing system, into the barrier system, wherein the feeding device has a movable receiving device for receiving the at least one component and wherein the receiving device has a coupling unit for positive-locking coupling with a handling device of the barrier system. The present invention further relates to a barrier system with a container. The present invention further relates to a method for feeding at least one component, in particular for a processing system, into an environment with restricted access, in particular an isolator, of a barrier system, in particular an isolator system.

[0002] A barrier system is understood to be 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 an environment with restricted access in which the work process can be carried out. Various barrier systems are known in the prior art. A barrier system can, for example, include an isolator or a barrier with restricted access, a so-called RABS (Restricted Area Barrier System). The RABS can be an open RABS or a closed RABS.

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

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

[0005] In this context, isolators are commonly used in biopharmaceutical process engineering, for example as part of a filling plant with several process and processing stations, to create a highly pure 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 often be automatically inserted into the isolator and filled with a product, e.g. a pharmaceutical or cosmetic product, in particular a liquid or a powder, and then sealed with a closure element, e.g. a stopper or a crimp cap.

[0007] A transfer airlock or an alpha-beta port can be used to feed or introduce items such as containers, consumables, or components, particularly components for a processing system, into the isolator. For example, items to be introduced can be placed in a staging container, such as a beta container, outside the isolator. Such a beta container can then be connected externally to a port, such as an alpha-beta port, of the isolator. Subsequently, while maintaining the integrity of the isolator's defined atmosphere, the port can be opened and the items introduced into the isolator. Conversely, items can also be removed from the barrier system.

[0008] To handle the items being introduced, one or more handling devices, such as handling robots, can be arranged in the isolator. In particular, a component for a processing system can be removed from the feeding device using the handling device, then transferred to a destination within the isolator and installed there as a component (e.g., a component of a filling station) in a processing station. Manual operator intervention (e.g., via gloved access) should be avoided wherever possible from a safety and economic perspective.

[0009] The limited space within such an alpha-beta port typically necessitates a movable receiving unit for the feeding device, similar to a drawer, which can be extended or removed entirely from the alpha-beta port to ensure sufficient accessibility for unloading the items being introduced. In particular, the receiving unit can be pulled out of the alpha-beta port using a handling robot.

[0010] Due to the limited space between the walls of an alpha-beta port and the receiving device, even gripping and removing the receiving device can present challenges. Especially when using grippers of a handling robot, the limited accessibility often means that only the front face can be used for handling. A handling robot- The bot can be inserted into the Alpha-Beta port, coupled with the front end, and then the recording device removed.

[0011] Such feeding systems are known in the prior art.

[0012] For example, German patent application DE 102022117631 A1 discloses a device for handling conveyed goods within a barrier system. The device comprises a manipulator with a magnetic actuator arranged within the barrier system. The magnetic actuator is configured to magnetically couple with the object to be conveyed and to move it within the barrier system.

[0013] However, the known feeding systems for the automated feeding of objects into isolators still leave room for improvement, especially with regard to handling using handling devices, particularly handling robots.

[0014] Against this background, it is an object of the present invention to provide an improved container, in particular a beta container, for a barrier system, as well as an improved method for feeding at least one component, in particular for a processing system, into an environment with restricted access, in particular an isolator, of a barrier system, in particular an isolator system, which enables improved handling by means of handling devices, in particular handling robots.

[0015] According to a first aspect of the present invention, a container, in particular a beta container, is provided for a barrier system, in particular an isolator system, wherein the container has a feeding device for feeding at least one component, in particular for a processing system, into the barrier system, wherein the feeding device has a movable receiving device for receiving the at least one component and wherein the receiving device has a coupling unit for positive coupling with a handling device of the barrier system.

[0016] According to a second aspect of the present invention, a barrier system, in particular an isolator system, is provided with a container according to one of the preceding claims; an environment with restricted access, in particular an isolator; a handling device arranged in the environment, preferably a handling robot; and an alpha-beta port for docking the container, wherein the container can be docked outside the environment.

[0017] According to a third aspect of the present invention, a method for feeding at least one component, in particular for a processing system, into an environment with restricted access, in particular an isolator, a barrier system, in particular an isolator system, is provided, wherein the method comprises the following steps: docking a container, in particular a beta container, to an alpha-beta port of the barrier system, wherein the container is docked outside the environment; opening a container lid of the container, in particular wherein a port lid of the alpha-beta port is opened together with the container lid;Removing a coupling unit of a movable receiving device of the container from the container by means of a power storage unit of the container's feeding device, wherein the power storage unit is configured to provide a force and to move the coupling unit out of the container by means of the force, in particular wherein the receiving device has a support element, in particular a support wheel, and the support element is supported on the container lid, in particular parallel to the movement of the receiving device; coupling, in particular positive locking coupling, of the coupling unit with a handling device, preferably a handling robot, of the barrier system arranged in the vicinity; extending the receiving device from the container by means of the handling device, in particular by pulling on the coupling unit;

[0018] The procedure according to the third aspect can be carried out in particular in the barrier system according to the second aspect.

[0019] The barrier system is, in particular, an isolator system. The isolator system can preferably be part of a filling plant with several process and processing stations. The filling plant can, for example, be a system for filling and sealing... Containers containing a pharmaceutical or cosmetic substance. In particular, the barrier system can be automatically set up. This means that, by means of a setup process, at least one component for a processing system can be introduced or fed into and installed in the isolator of the barrier system. The feeding can be carried out, in particular, by means of the method according to the third aspect.

[0020] The component in question is, in particular, a component for a processing system within the barrier system. For example, the component could be a filter element for a filling device inside the barrier system. However, it goes without saying that the term "component" can also refer to other conveyed goods in the broadest sense, or that other conveyed goods, especially containers for a pharmaceutical or cosmetic product, particularly a liquid or powder, can be introduced into the isolator using the container.

[0021] The restricted-access environment or 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 within its interior. The handling device is arranged within the isolator, particularly within its interior space.

[0022] The alpha-beta port serves to provide access to the isolator and, in particular, to dock the container or beta container. For this purpose, the alpha-beta port may have an isolator opening and a door or port cover to close the isolator opening. When the beta container is docked, the alpha-beta port can be opened to transfer items from the container into the isolator through the alpha-beta port, or vice versa, while maintaining the isolator's protected atmosphere. For docking the container, the alpha-beta port may have a docking device, in particular a docking flange. The docking flange surrounds the isolator opening and can seal the alpha-beta port.

[0023] The container, in particular a beta container or beta receptacle, serves to introduce and provide at least one component, especially for a processing system. The container, or other conveyed goods, is placed into the isolator. The container is designed for use with an alpha-beta port. In particular, the container can serve as a transfer lock within the alpha-beta port. In other words, when docked to the alpha port, the beta container can form part of a transfer system or the alpha-beta port itself. The container has a housing. The container, or the housing, can be substantially cylindrical. The container has an interior space. The interior space is enclosed by the housing. The container also has an access point or opening in the housing. The container can be opened and closed by means of a lid. The lid can close the opening. The lid is designed to seal the container airtight, preferably gas-tight.The container lid is specifically designed to open together with the port lid. Once the container is docked and the lid is open, the container opening is connected to the insulator opening. In other words, the interior of the insulator is then connected to the interior of the container via the port.

[0024] Docking is achieved by attaching and securing the container to the port from the outside. Specifically, docking is accomplished by creating a detachable, gas-tight connection between the port and the container.

[0025] Opening for the purpose of feeding can only occur when the container is docked at the alpha-beta port. Opening can be performed from the inside using the handling device. Alternatively, opening can be performed automatically by means of an opening mechanism. Or, it can be performed automatically or manually by means of a lever mechanism from the outside of the isolator. The container lid preferably opens outwards from the interior of the container. In doing so, the container lid may penetrate the isolator. In particular, the container lid is moved together with the port lid.

[0026] The container further features a feeding device for feeding at least one component with a movable receiving device for receiving the at least a component. The container can accommodate the receiving device, particularly along its longitudinal direction, within its interior.

[0027] The feeding device serves to feed at least one component. For this purpose, the feeding device has a movable receiving unit for receiving the at least one component. The feeding device may also have a guide unit for guiding the movement of the receiving unit. Furthermore, the feeding device may have a force storage unit for providing the force to move the coupling unit of the receiving unit out of the container. The feeding unit is arranged inside the container.

[0028] The handling device is used to handle the components within the isolator. Specifically, the handling device serves to remove the components to be fed into the isolator from the container's feeder and to position them within the isolator. The handling device can pick up the components and move and orient them within the isolator to place them in a predetermined orientation. Furthermore, the handling device can interact with the feeder, in particular by operating it. For example, the handling device can remove the feeder's receiving unit from the container. This can also mean that the handling device can pull the receiving unit, especially partially, out of the container so that the receiving unit protrudes into the isolator like a drawer.In this state, the handling device can then unload or load the receiving device.

[0029] The handling device is preferably designed as a handling robot. The handling device can have at least one multi-axis arm and an end effector arranged at one end of the arm. A drive unit can be provided, for example, 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 or operate an object. The handling device can also have several handling robots. In particular The movement ranges of the handling robots then overlap. In particular, the handling device can be controlled by a control unit.

[0030] To interact with the feeding device, the handling device can have a gripper or a coupling element on the end effector. The coupling element can, in particular, be a cylindrical pin or an angled cylindrical pin designed to be inserted into a receptacle. The handling device can, in particular by means of the coupling element, engage positively with the coupling unit of the receiving device. In the coupled state, the handling device can move the receiving device.

[0031] The receiving device of the feeding unit serves to receive at least one component. The receiving device is designed to be movable. This means that it can be moved within the container in such a way that it can be extended from and retracted into the container's interior. In particular, the receiving device can be designed similarly to a drawer. Specifically, the receiving device is configured to be moved, at least partially, from the container's interior into the isolator's interior when the container is docked and open. Preferably, the receiving device does not have its own drive mechanism for this purpose. The receiving device has a coupling unit for positive-locking connection with the handling device of the barrier system. In the coupled state, the receiving device can be moved by the handling device.

[0032] The mounting device is extended after the coupling unit is connected to the handling device. Extension is achieved using the handling device. In particular, the mounting device can be pulled straight by the handling device. Extension preferably occurs without strong acceleration or deceleration to ensure a secure fit of at least one component in the mounting device.

[0033] The coupling unit serves for positive-locking coupling with the handling device. In particular, when coupled, the receiving device can be pulled out of the container by the handling device using the coupling unit. For this purpose, the coupling unit can provide a releasable positive lock between the handling device and the receiving device. In other words, the coupling unit can be a counterpart or coupling partner for the coupling element of the handling device. In particular, the coupling unit can be a receptacle or projection into which the coupling element can engage. Preferably, the coupling unit can have a receptacle or opening that points in a direction orthogonal to the movement of the receiving device. In other words, the coupling unit can enable coupling by a movement of the handling device orthogonal to the movement of the receiving device. When coupled, the coupling unit and / or the receiving device are...The receiving device and the coupling element or end effector are positively coupled with respect to the movement of the receiving device. The coupling unit can preferably be arranged at the end face of the receiving device. "End face" in this context refers to the side of the receiving device that faces the container opening or the closed container lid. In particular, the coupling unit can project away from the receiving device at the end face, so that the counterpart for the coupling element of the handling device is more easily accessible. Furthermore, the coupling unit can be configured to be movable out of the container by means of the energy storage unit, in particular so that the counterpart for the coupling element of the handling device is arranged completely outside the container.

[0034] Coupling takes place after opening a container lid. Coupling is achieved by guiding the handling device so that the coupling element comes into operative contact with the coupling unit. In particular, the coupling element is inserted into a receptacle of the coupling unit. Preferably, during coupling, the handling device is moved in such a way as to prevent movement of the receptacle. In particular, coupling can be facilitated by moving the handling device orthogonally to the movement of the receptacle. Coupling can be carried out in a particularly simple manner if the counterpart for the coupling element of the handling device is accessible to the handling device, and in particular if it is located completely outside the container. Furthermore, coupling can be performed in a particularly simple manner if the position and orientation of the coupling unit are known. In this case, the movement can be controlled using coordinates.

[0035] The energy storage unit serves to provide a force. The energy storage unit is designed to use this force to at least move the coupling unit out of the container. In other words, the force can cause the coupling unit to move out of the container or, if the container is closed, to push against the container lid. The energy storage unit can, for example, include a spring, in particular a compression spring or gas spring, to store and provide the force. Alternatively, the energy storage unit can also include magnets with opposite poles or a torsion spring to store and provide the force.

[0036] The energy storage unit can apply force between a first and a second system, allowing the second system to be moved in the direction of the force and in the opposite direction by applying force, with the energy storage unit storing the applied force. By arranging the first system inside the container and the second system at the coupling unit, the energy storage unit is configured to move the coupling unit out of the container using the applied force.

[0037] The coupling unit is extended after or during the opening of the container lid. Specifically, the coupling unit can be moved out of the container by means of the energy storage unit in such a way that it is accessible to the counterpart or coupling partner for the handling device's coupling element. This means that, at least on one side of the coupling unit designed for coupling with the handling device, its movement is not restricted by the container, particularly the container housing or lid. If the extension occurs when the container lid is opened, the movement of the receiving device out of the container may be limited by the container lid.

[0038] Positive-lock coupling enables reliable motion transmission between the handling device and the movable receiving device without the need for grippers or magnets. In particular, the coupling unit allows coupling to occur when the handling device moves orthogonally to the movement of the receiving device. This prevents unintended jerky movements of the receiving device in the direction of travel during coupling, such as those that can occur when using magnetic actuators due to the increasing magnetic attraction as the actuator approaches the workpiece. Furthermore, mounting the coupling unit on the end face of the receiving device improves accessibility for the handling device.

[0039] By moving the coupling unit of the movable container receiving device out of the container using the energy storage unit of the container's feeding device, handling by handling equipment, especially handling robots, can be improved. In particular, this improves handling by further enhancing accessibility for the handling equipment.

[0040] The task posed at the beginning is thus fully solved.

[0041] In a first embodiment of the aspects, the receiving device may further comprise an extension unit, in particular a telescopic unit, arranged on the receiving device and movable relative to the receiving device.

[0042] The extension unit is designed to be extendable, at least partially, from the container by means of the energy storage unit when the container lid is open. The extension unit is preferably designed to extend in the direction of the movement of the receiving device. The extension unit is movable relative to the receiving device by means of the energy storage unit. Preferably, the extension unit is linearly, translationally movable. The extension unit can be designed as a telescopic unit. In that case, the extension unit can, for example, be a telescopic rod. When the extension unit is extended, it can transmit a force to the receiving device in the direction of its movement. In other words, the receiving device can then be moved by the handling device via the extension unit. In an alternative embodiment, the extension unit can also be designed as a fold-out unit. The fold-out unit can then, for example, be rotatably movable by means of a torsion spring in the energy storage unit.

[0043] This further improves accessibility to the handling equipment. This, in turn, enhances handling using handling equipment, particularly handling robots.

[0044] In a further embodiment of these aspects, the coupling unit can be arranged on the extension unit.

[0045] This further improves the accessibility of the coupling unit for the handling device. This, in turn, further enhances handling using handling devices, particularly handling robots.

[0046] In a further embodiment of the aspects, the extension unit can be arranged to be movable relative to the receiving device between a retracted position and an extended position, in particular wherein, if the receiving device is completely arranged in the container, the extension unit is also completely arranged in the container in the retracted position and is arranged outside the container at least with the coupling unit in the extended position.

[0047] In other words, the coupling unit can be positioned completely outside the container in the extended position of the extension unit, without requiring any movement of the receiving device.

[0048] In this way, coupling does not require the handling device to penetrate the container.

[0049] In a further embodiment of the aspects, the power storage unit can have a stop that limits the movement range of the coupling unit outside the container, in particular parallel to the movement of the receiving device.

[0050] The stop can limit the movement of the coupling unit by contacting it, or it can limit the movement of the energy storage unit itself, especially the spring.

[0051] In this way, a force can be transferred from the coupling unit via the stop in the direction of the movement of the receiving device out of the container and onto the receiving device.

[0052] In a further embodiment of the aspects, the power storage unit can have a stop that limits a range of movement of the extension unit, in particular telescopic unit, relative to the receiving device, in particular parallel to the movement of the receiving device.

[0053] The stop can limit the movement of the extension unit and thus also of the coupling unit by contacting the extension unit, or it can limit the movement of the energy storage unit itself, in particular the spring. The stop can be provided by positive locking, in particular by means of a bolt or shaft shoulder.

[0054] In this way, a force can be transferred from the coupling unit via the stop in the direction of the movement of the receiving device out of the container and onto the receiving device.

[0055] In a further embodiment of the aspects, the power storage unit can have a guide, in particular a linear guide, for guiding the extension unit, in particular a telescopic unit, especially parallel to the movement of the receiving device.

[0056] In this way, the extension unit can be positioned precisely in both the retracted and extended positions. In particular, movement perpendicular to the movement of the receiving device can be prevented.

[0057] In a further embodiment of the aspects, the container may also have a container lid for closing the container and the receiving device may have a support element, in particular a support wheel, for bracing against the container lid, in particular in the opposite direction to the movement of the receiving device.

[0058] The support element is designed to transfer the force of the energy storage unit into the container lid. In other words, the support element can provide a counterforce to the force of the energy storage unit by bracing itself against the lid. The support element can be a support wheel or a sliding element. The support element can provide bracing both when the container lid is closed and when it is being opened. When the container lid is closed, the energy storage unit presses the support element against the container lid. In particular, this allows the movement of the receiving device out of the container by successively opening the container lid, especially when the container lid is opened together with the port lid, in conjunction with the force of the energy storage unit. In other words, the movement out or in of the coupling unit can be achieved sequentially.The extension unit's movement depends on the opening of the container lid. When the container lid is opened or closed, the support wheel or sliding element can roll or slide along the container lid and / or the port lid.

[0059] In this way, the movement of the receiving device out of the container can be limited by means of the container lid. In particular, this prevents the receiving device from stopping abruptly when it reaches its limit.

[0060] In a further embodiment of the aspects, the support element can be arranged on the extension unit and be designed to support the extension unit against the container lid, in particular in the opposite direction to the movement of the receiving device.

[0061] In this way, the movement of the receiving device out of the container can be limited by means of the container lid and / or the port lid. In particular, the receiving device can be guided by successively opening the container lid in such a way that no significant jerk, relative to the mass of the receiving device, occurs due to impulse transmission from the extension unit to the receiving device upon contact with the stop. Vibration of the components in the receiving device can thus be avoided.

[0062] In a further embodiment of the aspects, the extension unit can be designed to rotate about an axis of rotation, in particular wherein the axis of rotation is arranged parallel to the movement of the receiving device.

[0063] This allows the extension unit to be rotated relative to the receiving unit by means of the handling device.

[0064] In a further embodiment of the aspects, the receiving device can also have a slide-in device for inserting the receiving device into the container.

[0065] The insertion device is designed to transmit a force to the receiving device, opposing its movement out of the container. The insertion device can, for example, be a push pin. The insertion occurs in one direction, into the container.

[0066] In this way, the receiving device can be inserted or pushed back into the container by the handling device using the insertion device.

[0067] In a further embodiment of these aspects, the insertion device can be configured to be movable between a first position and a second position, in particular by rotating the extension unit around the axis of rotation, wherein the insertion device in the first position prevents movement of the extension unit relative to the receiving device releases the receiving device and, in the second position, the insertion device blocks the movement of the extension unit relative to the receiving device.

[0068] In this embodiment, the insertion device is preferably arranged on the extension unit. In the second position, the insertion device couples the extension unit and the receiving unit in a pressure-resistant manner, opposing the movement of the receiving unit out of the container. In other words, the energy storage unit can be bypassed by means of the insertion device, so that the energy storage unit does not store any force when the receiving unit is inserted. The receiving unit can thus be moved into the container by means of the handling device via the coupling unit and the insertion device. Rotation can be effected, in particular, by means of the handling device via the coupling unit.

[0069] In this way, controlled insertion of the receiving device by means of the extension unit is enabled by the handling device.

[0070] In a further embodiment of these aspects, the feeding device can also include a guide unit for guiding the movement of the receiving device.

[0071] The guide unit can preferably be a linear guide, in particular a cylindrical guide or a roller guide. In particular, the guide unit can be designed to be telescopically extendable, so that it can extend out of the container. The guide unit can also be a rail guide, in which case the receiving device can be guided on the rails by means of rollers.

[0072] In this way, the receiving device can be led out of the container in a controlled manner and held outside the container by the control unit.

[0073] In a further embodiment of these aspects, the receiving device can be configured to be movable between a first position and a second position, guided by the control unit, in particular by means of the handling device. be, with the recording device retracted in the first position and extended in the second position.

[0074] Retracted and extended refer to the interior of the container. Retracted means that the receiving device is positioned inside the container in such a way that the container lid can properly close the container; extended means that the receiving device is positioned outside the container in such a way that at least one component is no longer located inside the container. In particular, in the second position, the receiving device is configured to protrude into the interior of the isolator. The second position can only be assumed when the container is open. In this position, the component can be removed from the receiving device without the risk of the component and / or the handling device coming into contact with the container or the alpha-beta port.

[0075] This eliminates the need for a separate drive for the receiving device. Furthermore, it improves the accessibility of the handling device to at least one component.

[0076] In a further embodiment of the aspects, the receiving device can have at least one receptacle for receiving a component, wherein the receptacle is rigidly connected to the receiving device.

[0077] The fixture can include elements for positively locking the component in a defined position and orientation within the fixture.

[0078] In this way, a secure fit of the component in the receiving device, especially in a defined position and orientation, can be ensured.

[0079] In a further embodiment of the aspects, the receiving device can have at least one securing element to secure at least one component.

[0080] The locking element can be designed as a retaining element, latch, or locking device. The locking element can lock at least one degree of freedom of the component within the receptacle. In particular, the locking element can prevent movement of the component within the receptacle, preferably in a direction parallel to the movement of the receptacle or in an axial direction of the container. Specifically, the locking element can prevent removal of the component from the receptacle. The locking element can be designed to be movable and can be moved between a locking position and a release position. In the locking position, the locking element locks at least one degree of freedom of the component within the receptacle. In the release position, the locking element releases at least one degree of freedom of the component.Preferably, the locking element is arranged on the extension unit and can be moved together with the extension unit to move between the release position and the locked position. Alternatively, the locking element can be arranged on the receiving device and have a lever that is engaged by a driver of the extension unit when the extension unit is moved out and in, thereby moving the locking element into the release position when the extension unit is moved out and into the locked position when the extension unit is moved in.

[0081] In this way, a releasable securing mechanism for at least one component can be provided, preferably parallel to the movement of the receiving device, in particular without the need for a separate actuator.

[0082] In a further embodiment of these aspects, the power storage unit can include a spring to provide the power.

[0083] In this way, a spring force can be used as a storage force.

[0084] In a further embodiment of these aspects, the power storage unit can have a ramp for providing the power.

[0085] In this way, potential energy can be used as storage power.

[0086] In a further embodiment according to the second aspect, the barrier system can further comprise a coordinate initiation device and the receiving device of the container can further comprise a centering device for centering the receiving device, wherein the receiving device, when the container is docked and the receiving device projects into an interior space of the environment, is configured to be centerable by means of the centering device through, in particular, positive locking interaction with the coordinate initiation device.

[0087] The centering device can be designed as a 3-point mounting. For this purpose, the centering device can, for example, have three recesses or bores on the underside of the mounting device.

[0088] The coordinate initiation device can be designed as a 3-point support. For this purpose, the coordinate initiation device can, for example, have three vertical extensions for engaging in the recesses of the centering device. The coordinate initiation device can be moved vertically, in particular by means of an actuator.

[0089] The interaction or centering can be achieved by moving the coordinate initiation device from below against the underside of the centering device, so that its projections engage in the recesses. In this way, the centering device is supported by the coordinate initiation device at three points. In particular, the centering device is then statically determinate. This can be achieved, in particular, by allowing the coordinate initiation device to lift the receiving device. Through centering, the receiving device can be aligned in a defined support situation with a known position and orientation relative to the coordinate initiation device. The interaction can be achieved, in particular, in such a way that an initial position of at least one component relative to the handling device can be defined.

[0090] This allows the receiving device to be secured in the second position. Furthermore, it improves the loading and unloading of the receiving device. This can be achieved by controlling the handling device based on the initial position of at least one component.

[0091] In a further embodiment according to the third aspect, the method can further comprise the following steps: inserting the receiving device into the container by pushing the insertion device using the handling device; closing the container lid, in particular wherein the port lid of the port is closed together with the container lid; moving the coupling unit into the container, in particular by closing the container lid, wherein the power storage unit stores the force in order to provide the force again, in particular wherein the support element is supported on the container lid, in particular parallel to the movement of the receiving device.

[0092] The retraction of the receiving device is performed in the opposite direction to the extension of the receiving device.

[0093] The container lid closes when the coupling unit and the handling device are uncoupled again.

[0094] The coupling unit can preferably be moved into position solely by the closing movement of the container lid and / or the port lid. Preferably, the support wheel or sliding element can roll or slide along the container lid and / or the port lid, thus pressing the coupling unit into the container.

[0095] In a further embodiment according to the third aspect, in the step of moving out the coupling unit, the coupling unit can be arranged on the extension unit, in particular telescopic unit, of the receiving device, wherein the extension unit is arranged on the receiving device and is movable relative to the receiving device, and the movement out of the coupling unit is effected by moving the extension unit from the retracted position to the extended position, in particular wherein the support element is arranged on the extension unit.

[0096] The extension unit can preferably be moved solely by the movement of the container lid and / or the port lid between the retracted and extended positions. Preferably, the support wheel or sliding element can roll or slide along the container lid and / or the port lid.

[0097] In a further embodiment according to the third aspect, a step of moving the insertion device into the second position can take place before the step of retracting the receiving device, in particular wherein the insertion device is moved into the second position by rotating the extension unit about the axis of rotation, in particular wherein the axis of rotation is arranged parallel to the movement of the receiving device; and a step of moving the insertion device into the first position can take place before the step of closing the container lid, in particular wherein the insertion device is moved into the second position by rotating the extension unit about an axis of rotation, in particular wherein the axis of rotation is arranged parallel to the movement of the receiving device.

[0098] In a further embodiment according to the third aspect, during the step of moving out the coupling unit, the unlocking of at least one received component can be carried out by releasing at least one locking element of the receiving device.

[0099] In a further embodiment according to the third aspect, the method can further comprise a step of centering the receiving device by means of the coordinate initiation device of the barrier system and the centering device of the receiving device, wherein the receiving device is centered by means of the centering device by, in particular, positive locking, interaction with the coordinate initiation device.

[0100] It goes without saying that the aforementioned characteristics and those to be explained below apply not only in the combinations specified, but also can be used in other combinations or on their own without leaving the scope of the present invention.

[0101] Exemplary embodiments of the invention are shown in the drawing and are explained in more detail in the following description. They show: Fig. 1 shows a schematic view of a first embodiment of a barrier system with a docked container according to a first embodiment; Fig. 2 shows an isometric view of the barrier system with a docked container according to the first embodiment; Fig. 3A is an isometric view of the first embodiment of the container; Fig. 3B is an isometric view of the first embodiment of the container; Fig. 4 shows an isometric sectional view of the first embodiment of the container; Fig. 5A a schematic view of the first embodiment of the container with the receiving device in a first position and the extension unit in a retracted position; Fig. 5B shows a schematic view of the first embodiment of the container with the receiving device in the first position and the extension unit in an extended position; Fig. 5C shows a schematic view of the first embodiment of the container with the receiving device in the second position and the extension unit in an extended position; Fig. 6 shows an isometric view of a second embodiment of the container; Fig. 7 shows an isometric view of a third embodiment of the container; Fig. 8 shows a schematic view of a first embodiment of a method for feeding at least one component into an environment with restricted access, a barrier system, in particular an isolator system; and Fig. 9 shows a schematic view of a second embodiment of the method.

[0102] Fig. 1 shows a schematic top view of a first embodiment of a barrier system, designated in its entirety by reference numeral 10. The barrier system has a docked container 20 according to a first embodiment.

[0103] The barrier system is designed as an isolator system 10. The isolator system 10 comprises an isolator 12 with an interior 14. The isolator system 10 includes an alpha-beta port 16. The alpha-beta port 16 is located on an outer wall of the isolator 12 and has an isolator opening 13 and a door or port cover 18 for closing the isolator opening 13. In Fig. 1, the port cover 18 is open.

[0104] In Fig. 1, a container 20 of the isolator system 10 is docked to the alpha-beta port 16. In the present embodiment, the container 20 is designed as a beta container and serves to introduce and provide at least one component 32 into the interior 14 of the isolator 14.

[0105] When docked, objects such as component 32 can be transferred from the container to the isolator through the alpha-beta port 16, or vice versa, while maintaining the protected atmosphere of the isolator 12. In other words, the container serves as a transfer airlock in the alpha-beta port 16. For this purpose, the container 20 has a container housing 23. The container is essentially cylindrical in this case. However, other shapes are also possible. The container 20 has an interior space 42. The interior space 42 is enclosed by the container housing 23. The container also has an access point or... A container opening 21 is located in the container housing 23. In this case, the container opening is arranged at the front of the container 20. The container 20 can be opened and closed by means of a container lid 22. The container lid 22 can close the container opening 21. The container lid 21 can be opened together with the port lid 18, as shown. When the container 20 is docked and open, as shown in Fig. 1, the container opening 21 is connected to the insulator opening 13. In other words, the interior 14 of the insulator is then connected to the interior 42 of the container via the port 16.

[0106] In this state, the component 32 can be moved into the interior 14 of the insulator 12 by means of a feeding device 24 of the container, in particular by means of a receiving device 26 of the feeding device 24. The receiving device 26 is designed to be movable for this purpose. This means that it can be moved within the container 20 such that it can be extended out of and retracted back into the interior 42 of the container. In particular, the receiving device 26 can be designed similarly to a drawer. In Fig. 1, the receiving device 26 is configured to be moved from the interior 42 of the container 20, at least partially, into the interior 14 of the insulator 12. Preferably, the receiving device 26 does not have its own drive for this purpose. In the present embodiment, the receiving device 26 can be moved by a handling device 46 of the insulator system 10 arranged in the insulator 12.

[0107] The handling device 46 can be configured as a handling robot 46. The handling robot 46 can move the receiving device 26 with an end effector 48. Furthermore, the handling robot 46 can handle the component 32 with the end effector 48.

[0108] The movement of the receiving device 26 for feeding the component 32 is illustrated by arrow 27. The component 32 is held in a receptacle 72 (not shown) of the receiving device 26.

[0109] In the situation shown in Fig. 1, the receiving device 26 projects into the interior 14 of the insulator such that the component 32 is arranged in the interior 14. The handling robot 46 can then, for example, remove the component 32 from the receiving device 26 to unload the receiving device 26 and transfer the component 32 to a destination 36 in the insulator 12. The transfer is illustrated by arrow 47.

[0110] When installed at the destination 36, the component 32 can, together with a component 32' already arranged in the insulator 12, form part of a processing system 30.

[0111] The barrier system 10 may also include a control unit 44. The control unit 44 may be configured to control, in particular, the handling device 46 and / or the port cover 18.

[0112] Fig. 2 shows an isometric view of the barrier system 10 with a docked container 20 according to the first embodiment. The illustration shows a view from the interior 14 of the isolator 12 through the isolator opening 13 and the container opening 21 into the container 20. In Fig. 2, only the alpha-beta port 16 with the port cover 18 and a docking flange 34, which serves in particular for docking the container 20, as well as the end effector 48 of the handling device 46, are shown of the barrier system or isolator system 10. Furthermore, the container 20 with the feed device 24 arranged therein and the container cover 22 are shown. In the present embodiment, the container cover 22 can be opened together with the port cover 18. For this purpose, the container cover 22 can dock onto the port cover 18, in particular by means of a positive fit. In particular, the positive fit can be provided by means of a bayonet fitting.

[0113] In Fig. 2, the container lid 22 is open together with the port lid 18, so that the container opening 21 is connected to the insulator opening 13. In this docked and open state, the feeding device 24 can be at least partially, for example, The handling device 46, with an extension unit 60, penetrates the insulator 12. Furthermore, the handling device 46 has access to the feeding device 24 by means of the end effector 48.

[0114] Fig. 3A shows an isometric view of the first embodiment of the container 20, without showing the container lid 22. On the front face of the container 20, the container 20 can have, as shown, four projections of a bayonet fitting 38 for docking the container 20 to the alpha-beta port 16, in particular docking flange 34. However, the container 20 can also have a different docking mechanism, in particular a positive-locking one.

[0115] Fig. 3B shows an isometric view of the feeding device 24 of the first embodiment of the container 20 with a component 32 held in it. The feeding unit 24 is arranged in the container 20. The feeding device 24 has the movable receiving device 26 for feeding the component 32. The receiving device 26 can have a receptacle 72 for receiving the component 32. The receptacle 72 can be attached to the receiving device 26 by means of a fastening element 73. The feeding device 24 can further have a guide unit 40 for guiding the movement (illustrated by arrow 27; see also arrow 27 in Fig. 1 and Fig. 5C) of the receiving device 26. As shown in Fig. 3B, the guide unit 40 is designed according to the principle of a drawer as a linear guide, in particular a roller guide. In Fig. 3B, rollers 84 are guided between round bars 86.In particular, this can be a telescopic linear guide that can be extended so that the guide unit 40 can extend at least partially out of the container 20. Alternatively, the guide unit 40 can also be designed as a cylindrical guide.

[0116] Fig. 4 shows an isometric sectional view of the first embodiment of the barrier system 10 with a docked container 20 according to the first embodiment in a top view. In Fig. 4, only the alpha-beta port 16 with the open port cover 18 and the docking flange 34, as well as the docked container 20, are shown of the barrier system or isolator system 10. The section runs horizontally and, with respect to its diameter, through the center of the container 20. As can be seen in the section, The projections of the bayonet fitting 38 engage with the docking flange 34.

[0117] Furthermore, a breakout in the receiving device 26 is shown for better illustration of a power storage unit 50.

[0118] The feeding device can further include the energy storage unit 50 for providing force to move a coupling unit 28 (not shown here; see also Fig. 6) of the receiving device 26 or the extension unit 60 out of the container 20. The direction of force action is illustrated in Fig. 4 by arrow 53. The function of the coupling unit is explained in more detail below in Fig. 6. In the illustrated embodiment, the coupling unit 28 is arranged on the underside of the extension unit 60. Accordingly, in Fig. 4 and the following Figures 5A to 5C, the extension unit 60 always includes the coupling unit 28.

[0119] The energy storage unit 50, as shown in Fig. 4, has a spring 52 or compression spring for storing and providing the force. A gas spring or magnets with opposite poles are also suitable for this purpose. In this case, the energy storage unit 50 is designed as a linear thrust unit. The energy storage unit 50 can have a guide 56, in particular a linear guide or cylindrical guide, to guide a movement caused by the force in direction 53. The energy storage unit 50 can preferably be arranged between the receiving device 26 and the extension unit or telescopic unit 26. The energy storage unit 50 can enable relative movement between the receiving device 26 and the extension unit 60 by means of the force and the guide 56.Since the receptacle 72 is arranged on the receiving device 26, this also allows for relative movement of the extension unit 60 to the receptacle 72 and thus also to a component 32 (not shown) received in the receptacle 72. Alternatively, instead of a linearly movable extension unit or telescopic unit 60, the extension unit 26 can also be designed as a folding unit, in particular with a torsion spring for storing and providing the force.

[0120] To limit the movement of the coupling unit 28 or the extension unit 60 out of the container 20, the energy storage unit 50 can also have a stop 54. In Fig. 4, the stop 54 is provided by a shoulder of the cylinder guide. Furthermore, a force in the direction of the movement of the receiving device 26 out of the container 20 can be transmitted from the coupling unit 28 to the receiving device 26 via the stop 54.

[0121] Figures 5A to 5C show schematic top views of the first embodiment of the container 20. Figure 5A shows a view with the receiving device 26 in a first position and the extension unit 60 in a retracted position.

[0122] The energy storage unit 50 can apply the force of the spring 52 between a first unit 58, which is connected to the receiving device 26, and a second unit 59, which is connected to the coupling unit 28 or the extension unit 60, such that the second unit 59 can be moved in the direction of action 53 of the force by means of the force; and the second unit 59 can be moved against the direction of action 53 of the force by means of force application, whereby the energy storage unit 50 can store the applied force. By arranging the first unit 58 in the container and the second unit 59 on the coupling unit 28 or the extension unit 60, the energy storage unit 50 is configured to move the coupling unit 28 or the extension unit 60 out of the container by means of the force. In particular, the first unit 58 can be arranged on the receiving device 26 to engage the coupling unit 28 or the extension unit 60.to move the extension unit 60 by means of the force relative to the receiving device 26.

[0123] When the container 20 is closed, as shown in Fig. 5A, the force can cause the coupling unit 28 or the extension unit 60 to straddle an inside of the container lid 22.

[0124] The receiving device 26 can further comprise a support element 62, in particular a support wheel 62, for bracing against the container lid 22, particularly opposite to the movement 27 (see also 27 in Fig. 5C) of the receiving device 26. In Figs. 5A to 5C, the support element 62 is arranged on the extension unit 60.

[0125] Fig. 5B shows a view of the container 20 with the receiving device 26 in the first position and the extension unit 60 in an extended position. Between the retracted position (see Fig. 5A) and the extended position, the movement of the extension unit 60 or coupling unit 28 out of the container 20 (illustrated by the guide 61) can be limited by the container lid 22. In other words, when the container lid 22 is opened, the support element 62 can roll or slide on the container lid 22, so that, in conjunction with the force of the energy storage unit 50 or the spring 52, the coupling unit 28 or the extension unit 60 can be moved out or in depending on the opening of the container lid 22. Preferably, the direction of the force 53 is parallel to the direction of movement 61 of the extension unit 60 or coupling unit 28.

[0126] In the situation shown in Fig. 5B, the coupling unit 28 is arranged in the interior 14 of the insulator 12. In particular, the coupling unit 28 can then be gripped particularly easily by a handling device 46 (not shown) or coupled to the end effector 48 without the handling device 46 having to penetrate the container 20.

[0127] Fig. 5C shows a view of the container 20 with the receiving device 26 in a second position and the extension unit 60 in the extended position.

[0128] The receiving device 26 can be moved between the first and second positions, in particular by means of the handling device 46 (not shown). This requires that the handling device 46 is coupled to the coupling unit 28. The corresponding movement of the receiving device 26 is illustrated in Fig. 5C by arrow 27. Preferably, the movements 27 and 61 are parallel, and in particular parallel to the direction of action 53 of the force of the spring 52. The movement 27 can be guided, in particular, by means of the guide unit 40. In Fig. 5C, the receiving device 26 projects out of the container 20. In the second position, the receiving device 26 can be held by the handling device 46 or supported within the insulator 12, so that the handling device 46 can be decoupled.Alternatively, the reception facility 26 can also be supported by the command unit 40 in such a way that the reception facility-. tung 26 can remain in the second position after decoupling the handling device 46, in particular free-cantilevered.

[0129] In the situation shown in Fig. 5C, the receiving device 26 is at least partially arranged in the interior 14 of the insulator 12. In particular, a component 32 (not shown) received in the receiving device 26 can then be grasped particularly easily by the handling device 46 (not shown) and unloaded from the receiving device 26.

[0130] Fig. 6 shows an isometric view of a second embodiment of the container 20 of the barrier system 10 in the situation shown in Fig. 5C. The barrier system 10 of the second embodiment corresponds essentially to the barrier system 10 of the first embodiment from Fig. 1. The same applies to the container 20. Identical elements are marked with the same reference numerals and are not explained in detail. In Fig. 6, only the receiving device 26 of the container 20 is shown. Furthermore, the end effector 48 of the handling device 46 is shown.

[0131] The perspective view shows a view of the underside of the receiving device 26. The coupling unit 28 of the receiving device 26 is arranged on the underside of the extension unit or telescopic unit 60. The coupling unit 28 has a receptacle 29. The coupling unit 28, or rather the receptacle 29, serves as a counterpart or coupling partner for a coupling element 49 of the handling device 46. The coupling element 49 can, for example, be arranged on the end effector 48. The coupling element 49 is designed as an angled cylindrical pin. The receptacle 29 is configured so that the coupling element 49 can engage in the receptacle 29. The receptacle 29 in Fig. 6 points in a direction orthogonal to the movement 27 of the receiving device 26 or to the movement 61 of the extension unit 60. In this direction, the coupling element 49 can be inserted into the receptacle 29 for coupling or removed for decoupling.In the coupled state, the coupling unit 28 or the receiving unit 29 and the coupling element 49 or the end effector 48 are positively coupled with respect to directions 27, 61. In other words, the extension unit 60 or the receiving unit 26 and the end effector are motionally coupled in the direction out of the container 20.

[0132] As shown in Fig. 6, the receiving device 26 can further comprise a centering device 82 for centering the receiving device 26. The centering device 82 can be designed as a 3-point receiver. For this purpose, the centering device 82 can, as shown here, have three recesses or bores on the underside of the receiving device 26.

[0133] The barrier system 10 can further include a coordinate initiation device 80 in the interior 14 of the insulator 12 (not shown in Fig. 6). The coordinate initiation device 80 can be designed as a 3-point support. For this purpose, the coordinate initiation device 80 can, for example, have three vertical extensions for engaging in the recesses of the centering device 82. The coordinate initiation device 80 can be moved vertically, in particular by means of an actuator (not shown). For example, the coordinate initiation device 80 can be moved from below against the underside of the receiving device 26 in this way, so that an interaction, in particular a positive locking interaction, occurs between the coordinate initiation device 80 and the centering device 82. For example, the centering device 82 can be received at three points or the receiving points of the coordinate initiation device 80.By centering, the receiving device 26 can be aligned in a defined support situation with a known position and orientation of the receiving device 26 relative to the coordinate initiation device 80. Alternatively, the coordinate initiation device 80 can determine a position and orientation of the receiving device 26 relative to the coordinate initiation device 80. In particular, the coordinate initiation device 80 and the centering device 82 can be used to support the receiving device 26 in the second position.

[0134] Fig. 7 shows an isometric view of a third embodiment of the container 20 of the barrier system 10. The barrier system 10 of the third embodiment corresponds essentially to the barrier system 10 of the first embodiment from Fig. 1 and the second embodiment from Fig. 6. The same applies to the container 20. Identical elements are marked with the same reference numerals and are not explained in detail. In Fig. 7, only the receiving device 26 of the container 20 is shown. The end effector 48 of the handling device 46 is also shown.

[0135] In the representation shown in Fig. 7, the container 20 can be in either the position shown in Fig. 5B or 5C. Furthermore, the end effector 48 and the delivery unit 60 are coupled to each other by means of the coupling unit 28.

[0136] The extension unit 60 is designed to rotate about an axis of rotation (illustrated by the dashed line 64) in Fig. 7, in particular wherein the axis of rotation 64 is arranged parallel to the movement 27 of the receiving device 26 or parallel to the movement 61 of the extension unit 60. The direction of the rotational movement is illustrated in Fig. 7 by the arrow 66.

[0137] In the coupled state, the coupling unit 28 or the receptacle 29 and the coupling element 49 or the end effector 48 are positively coupled with respect to direction 66 (see also reference numerals 28, 29 and 49 in Fig. 6). In particular, the extension unit 60 can be rotated by means of the end effector 48 in the coupled state. The rotation 66 of the extension unit 60 takes place, as can be seen in Fig. 7, relative to the receptacle 26. In particular, the cylinder guide 56 of the energy storage unit can enable the rotation 66 (see also Fig. 4).

[0138] The receiving device 26 of the third embodiment can further comprise an insertion device 70 for inserting the receiving device 26 into the container 20. In this case, the insertion device 70 is designed as a pressure pin 70.

[0139] The insertion device 70 is configured to be movable between a first position and a second position by rotating the extension unit 60 about the axis of rotation 64. For this purpose, the insertion device 70 or the pressure pin 70 can be arranged or fixed at one end to the extension unit 60. However, the insertion device 70 can also be moved between the first and second positions in other ways. In the first position, the insertion device 70 releases the movement 61 of the extension unit 60 relative to the receiving device 26. In the second position, the insertion device 70 locks the movement 61 of the extension unit 60 relative to the receiving device 26.

[0140] In the second position, the insertion device 70 couples the extension unit 60 and the receiving unit 26 in a pressure-stable manner opposite to the direction of movement 27 of the receiving unit 26 out of the container. In other words, the insertion device 70 can bypass the energy storage unit 50 (see also Fig. 4) so ​​that the energy storage unit 50 does not store any force when inserted using the insertion device 70. The receiving unit 26 can thus be moved into the container 20 by means of the handling device 46 via the coupling unit 28 and the insertion device 70. In this way, the situation shown in Fig. 5B can be provided, starting from the one shown in Fig. 5C.

[0141] For this purpose, as shown by way of example in Fig. 7, the insertion device 70 or the pressure pin 70 can be arranged in the second position such that the pressure pin 70 is brought into contact with a contact surface 76 on the receiving device 26 at one end. The contact surface 76 can, for example, be located on the fastening element 73.

[0142] In the first position, the pressure pin 70 is arranged, for example, such that it can move through a recess 78 in the contact surface 76 or in the fastening element 73 in a direction parallel to the movement 61. In this way, the situation shown in Fig. 5A can be provided, in particular, starting from that shown in Fig. 5B.

[0143] In a fourth embodiment of the container 20, the receiving device 26 may further have at least one securing element 74 for securing the at least one component 32.

[0144] The locking element 74 is also shown in Fig. 7. In this case, the locking element 74 is designed to be movable and can be moved between a locking position and a release position. For this purpose, the locking element 74 is arranged on the extension unit 60. In the locking position, the locking element 74 locks at least one degree of freedom of the component 32 (not shown) in the receiving device 26. In the release position, In this position, the locking element 74 releases at least one degree of freedom of component 32.

[0145] Figure 7 shows the release position (see also Figure 3B). In the release position, the component 32 can be removed from the receptacle 72. In the locking position, the extension unit 60 is in the retracted position shown in Figure 5A, in which the locking element 74 is in contact with the component 32. In particular, the locking element 74 can prevent movement of the component 32 in the receptacle 72, preferably in a direction parallel to the movement 27 of the receiving device 26.

[0001] Fig. 8 shows a schematic view of a first embodiment of a method 100 for feeding at least one component 32, in particular for a processing system 30, into an environment with restricted access, in particular an isolator 12, a barrier system, in particular an isolator system 10. Optional steps are shown in a dashed outline. The method 100 can be carried out in particular by means of the barrier system 10 according to one of the embodiments described above.

[0002] In a first step 102 of the method 100, the container 20, in particular the beta container 20, is docked to the alpha-beta port 16 of the barrier system 10, with the container being docked outside the environment.

[0003] In a further step 104 of the method 100, the container lid 22 of the container 20 is opened, in particular the port lid 18 of the alpha-beta port 16 is opened together with the container lid 22.

[0004] In a further step 106 of the method 100, the coupling unit 28 of the receiving device 26 is moved out of the container 20 by means of the energy storage unit 50 of the feeding device 24 of the container 20. In particular, the support element 62 can be supported on the container lid 22, especially parallel to the movement 27 of the receiving device 26.

[0005] In particular, in a further step 107 of the method 100, during step 106, the at least one locking element 74 of the receiving device 26 can be released, so that the at least one received component 32 is unlocked. The locking element 74 can be released by moving the locking element 74 from the locked position to the released position.

[0006] In a further step 108 of the method 100, the coupling unit 28 is coupled, in particular by positive locking, to the handling device 46 arranged in the environment or in the insulator 12.

[0007] In a further step 110 of the method 100, the receiving device 26 is extended from the container 20, in particular by means of the handling device 46, preferably wherein the handling device 46 pulls on the coupling unit 28.

[0008] In particular, following step 110, in a further step 112 of the method 100, the receiving device 26 can be centered by means of the coordinate initiation device 80 of the barrier system 10 and the centering device 82 of the receiving device 26, wherein the centering device 82 interacts with the coordinate initiation device 80, in particular in a positive-locking manner, thereby centering the receiving device 26.

[0009] Fig. 9 shows a schematic view of a second embodiment of method 100.

[0010] The method 100 begins with at least one step of the method 100 of the first embodiment (see also Fig. 8). These can be steps of steps 102 to 112.

[0011] In a further step 114 of the method 100, the receiving device 26 is inserted into the container by pushing the insertion device 70 by means of the handling device 46.

[0012] In particular, prior to step 114 in a further step 113 of the method 100, the insertion device 70 can be moved into the second position.

[0013] In particular, after step 114, in a further step 115 of the method 100, the insertion device 70 can be moved into the first position.

[0014] In a further step 116 of the method 100, the container lid 22 is closed, in particular the port lid 18 of the port 16 is closed together with the container lid 22.

[0015] In a further step 118 of the method 100, the coupling unit 28 is moved into the container 20. Step 118 can be carried out in particular by step 116, wherein the energy storage unit 50 stores the energy in order to provide the energy again, in particular wherein the support element 62 is supported on the container lid 22, in particular parallel to the movement 27 of the receiving device 26.

Claims

Patent claims 1. Container (20), in particular beta container, for a barrier system, in particular isolator system (10), wherein the container (20) has a feeding device (24) for feeding at least one component (32), in particular for a processing system (30), into the barrier system (10), wherein the feeding device (24) has a movable receiving device (26) for receiving the at least one component (32) and wherein the receiving device (26) has a coupling unit (28) for positive coupling with a handling device (46) of the barrier system (10).

2. Container (20) according to claim 1, wherein the feeding device (24) further comprises a power storage unit (50) for providing a force, wherein the power storage unit (50) is configured to move at least the coupling unit (28) out of the container (20) by means of the force.

3. Container (20) according to claim 1 or 2, wherein the receiving device (26) further comprises an extension unit (60), in particular a telescopic unit, arranged on the receiving device (26) and movable relative to the receiving device (26).

4. Container (20) according to claim 3, wherein the coupling unit (28) is arranged on the ejection unit (60).

5. Container (20) according to claim 3 or 4, wherein the extension unit (60) is configured to be movable relative to the receiving device (26) between a retracted position and an extended position, in particular wherein, when the receiving device (26) is completely arranged in the container (20), the extension unit (60) is also completely arranged in the container (20) in the retracted position and is arranged outside the container (20) at least with the coupling unit (28) in the extended position.

6. Container (20) according to one of claims 2 to 5, wherein the energy storage unit (50) has a stop (54) which limits a range of movement of the coupling unit (28) outside the container (20), in particular parallel to the movement of the receiving device (26).

7. Container (20) according to one of claims 1 to 6, wherein the container (20) further comprises a container lid (22) for closing the container (20) and the receiving device (26) comprises a support element (62), in particular a support wheel, for supporting itself against the container lid (22), in particular in the opposite direction to the movement of the receiving device (26).

8. Container (20) according to one of claims 3 to 7, wherein the extension unit (60) is designed to be rotatable about a rotation axis (64), in particular wherein the rotation axis (64) is arranged parallel to the movement of the receiving device (26).

9. Container (20) according to one of claims 1 to 8, wherein the receiving device (26) further comprises an insertion device (70) for inserting the receiving device (26) into the container (20).

10. Container (20) according to claim 9, wherein the insertion device (70) is configured to be movable between a first position and a second position, in particular by rotation of the extension unit (60) about the axis of rotation (64), wherein the insertion device (70) in the first position releases a movement of the extension unit (60) relative to the receiving device (26) and wherein the insertion device (70) in the second position blocks the movement of the extension unit (60) relative to the receiving device (26).

11. Container (20) according to one of claims 1 to 10, wherein the receiving device (26) has at least one receiving (72) for receiving a component (32), wherein the receiving (72) is rigidly connected to the receiving device (26).

12. Container (20) according to one of claims 1 to 11, wherein the receiving device (26) has at least one securing element (74) for securing the at least one component (32).

13. Container (20) according to one of claims 2 to 12, wherein the power storage unit (50) has a spring (52) for providing the power.

14. Container (20) according to one of claims 2 to 12, wherein the power storage unit (50) has a ramp (52) for providing the power.

15. Barrier system (10), in particular isolator system, comprising a container (20) according to one of the preceding claims; an environment with restricted access, in particular an isolator (12); a handling device (46) arranged in the environment (12), preferably a handling robot; and an alpha-beta port (18) for docking the container (20), wherein the container (20) is dockable outside the environment.

16. Barrier system (10) according to claim 15, wherein the barrier system (10) further comprises a coordinate initiation device (80) and the receiving device (26) of the container (20) further comprises a centering device (82) for centering the receiving device (26), wherein the receiving device (26), when docked and the receiving device (26) projects into an interior space (14) of the environment (12), is configured to be centerable by means of the centering device (82) by, in particular, positive-locking interaction with the coordinate initiation device (80).

17. Method (100) for feeding at least one component (32), in particular for a processing system (30), into an environment with restricted access, in particular an isolator (12), a barrier system (10), in particular an isolator system (10), in particular according to claim 15 or 16, comprising the following steps: Docking (102) of a container (20), in particular a beta container (20), to an alpha-beta port (16) of the barrier system (10), wherein the container (20) is docked outside the environment (12); Opening (104) a container lid (22) of the container (20), in particular wherein a port lid (18) of the alpha-beta port (16) is opened together with the container lid (22); Moving (106) a coupling unit (28) of a movable receiving device (26) of the container (20) out of the container (20) by means of a power storage unit (50) of the feeding device (24) of the container (20), wherein the power storage unit (50) is configured to provide a force and to move the coupling unit (28) out of the container (20) by means of the force, in particular wherein the receiving device (26) has a support element (62), in particular a support wheel, and the support element (62) is supported on the container lid (22), in particular parallel to the movement of the receiving device (26); Coupling (108), in particular positive coupling, of the coupling unit (28) with a handling device (46) arranged in the vicinity (12), preferably a handling robot, of the barrier system (10); Extending (110) the receiving device (26) from the container, in particular by means of the handling device, preferably by pulling on the coupling unit (28); 18. Method (100) according to claim 17, wherein the method (100) further comprises the following steps: Insertion (114) of the receiving device (26) into the container (20) by pushing a insertion device (70) using the handling device; Closing (116) of the container lid (22), in particular wherein the port lid (18) of the port (16) is closed together with the container lid (22); Moving (118) the coupling unit (28) into the container, in particular by closing the container lid (22), wherein the power storage unit (50) stores the force in order to provide the force again, in particular wherein the support element (62) is supported on the container lid (22), in particular parallel to the movement of the receiving device (26).

19. Method (100) according to claim 17 or 18, wherein in the step (106) of moving out the coupling unit (28) the coupling unit (28) is arranged on an extension unit (60), in particular a telescopic unit, of the receiving device (26), wherein the extension unit (60) is arranged on the receiving device (26) and is movable relative to the receiving device (26), and the movement out of the coupling unit (28) is effected by moving the extension unit (60) from a retracted position to an extended position, in particular wherein the support element (62) is arranged on the extension unit (60).

20. Method (100) according to claim 19, wherein, prior to the step of retracting (114) the receiving device (26), a step of moving (113) the insertion device (70) into a second position is performed, in particular wherein the insertion device (70) is moved into the second position by rotating the extension unit (60) about a rotation axis (64), in particular wherein the rotation axis (64) is arranged parallel to the movement of the receiving device (26); and prior to the step of closing the container lid (22), a step of moving (115) the insertion device (70) into a first position is performed, in particular wherein the insertion device (70) is moved into the second position by rotating the extension unit (60) about a rotation axis (64), in particular wherein the rotation axis (64) is arranged parallel to the movement of the receiving device (26).

21. Method (100) according to one of claims 17 to 20, wherein in the step of moving out (106) the coupling unit (28) the at least one received component (32) is unlocked by a step of releasing (107) at least one locking element of the receiving device (26).

22. Method (100) according to one of claims 17 to 21, wherein the method (100) further comprises a step of centering (112) the receiving device (26) by means of a coordinate initiation device (80) of the barrier system (10) and a centering device (82) of the receiving device (26), wherein the receiving device (26) is centered by means of the centering device (82) by, in particular, positive-locking, interaction with the coordinate initiation device (80).

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