Weighing station for weighing containers, system and method therefor

Abstract

The present invention relates to a weighing station (10) for weighing containers (12), in particular pharmaceutical or cosmetic containers, wherein the weighing station (10) has a holding device (14) and a weighing device (16), wherein the holding device (14) is designed to hold a container (12) in a defined position (18), wherein the weighing device (16) is designed to weigh the container (12) held in the defined position (18), wherein the weighing device (16) supports the holding device (14), in particular wherein the holding device (14) is opened in a first direction (20) on two opposing sides (30, 32), such that the container (12) can be brought into the defined position (18) in the first direction (20) from one of the two sides (30, 32) and can be removed from the defined position (18) from the other of the two sides (30, 32). The invention also relates to a system (80). The invention further relates to a method (100) for weighing containers (12), in particular pharmaceutical or cosmetic containers, at a weighing station (10).

Description

Weighing station for weighing containers, system and procedure for this

[0001] The present invention relates to a weighing station for weighing containers, in particular pharmaceutical or cosmetic containers. The present invention further relates to a system, in particular a filling module, wherein the system comprises a first handling device, a second handling device, and such a weighing station. The present invention further relates to a method for weighing containers, in particular pharmaceutical or cosmetic containers, at a weighing station.

[0002] Weighing stations are used particularly in biopharmaceutical process engineering, for example as part of a pharmaceutical filling line with multiple process and processing stations. However, weighing stations can also be used in other filling lines, such as cosmetic filling lines. The individual process and processing stations of the filling line are typically located in a protected environment, such as an isolator or barrier. Restricted access, a so-called RABS, "Restricted Area Barrier System", was arranged to create a germ-free environment for the bottling process.

[0003] In such filling systems, containers, such as vials, cartridges, bottles, syringes, and / or the like, are filled with a pharmaceutical or cosmetic substance, in particular a liquid or powder, and then sealed with a closure element, for example, a stopper and / or a crimp cap. Handling devices, in particular handling robots, are used in such filling systems to handle the containers and the closure elements. Specifically, the containers are transported or transferred between the individual process and processing stations by means of the handling devices.

[0004] In such filling systems, a filling station is provided for filling the containers. At the filling station, each container is filled with the pharmaceutical or cosmetic substance. For sealing the containers, such filling systems include one or more sealing stations, such as a stopper insertion station and / or a crimping station. At the sealing stations, each container is sealed with a closure element after filling. In particular, a stopper can be placed on the container at a stopper insertion station. At a crimping station, a crimp cap can be applied to the container, in particular crimped. Transfer stations may also be provided for transferring containers between individual sections or modules of the filling system.

[0005] Such filling plants are known, for example, from the publications DE 102008 001 287 A1 , WO 2016 / 198391 A1 and DE 102020 102 768 A1.

[0006] To control the fill quantity of a substance placed in a container, it is known to use weighing stations by means of which the weight of the filled container can be determined. The known weighing stations generally comprise a load cell and a weighing platform coupled to the load cell. The weighing platform can, for example, be designed as a flat platform. This shape is only suitable for containers that can stand on their own, such as vials. The weighing tray can also be designed as a cup into which the containers can be inserted. This shape is particularly suitable for containers that cannot stand on their own, such as syringes.

[0007] Previously, for weighing, the containers were transferred to the weighing station after filling using a handling device and then placed on the weighing platform. After weighing, the containers were lifted again using a handling device and transferred further, for example, to a downstream capping station. Since the transfer of containers in filling systems is generally horizontal, weighing previously always required an additional vertical lifting movement of the containers, i.e., setting them down and lifting them.

[0008] However, the known weighing stations still leave room for improvement, especially regarding the speed, simplicity, accuracy and safety of the weighing process.

[0009] Against this background, it is an object of the present invention to provide an improved weighing station, an improved system, and an improved method for weighing containers, in particular pharmaceutical or cosmetic containers. In particular, it is an object of the present invention to enable a fast, simple, accurate, and safe weighing process.

[0010] According to a first aspect of the present invention, a weighing station for weighing containers, in particular pharmaceutical or cosmetic containers, is provided, wherein the weighing station has a holding device and a weighing device, wherein the holding device is configured to hold a container in a defined position, in particular to hold it securely, wherein the weighing device is configured to weigh the container held in the defined position, and wherein the weighing device carries the holding device.

[0011] The weighing station is used for weighing containers. In particular, individual containers can be weighed simultaneously or sequentially with the weighing station. For example, the weight of each container can be determined. The containers are preferably pharmaceutical or cosmetic containers, such as syringes, vials, bottles, cartridges, or the like. The containers are preferably cylindrical. This means that each container has a substantially circular cylindrical cross-section. Each container can be filled with a substance, preferably a pharmaceutical or cosmetic substance. The substance can, in particular, be a pharmaceutical liquid. Each container can have an opening through which it can be filled. The opening can be closed with a sealing element.

[0012] For weighing the containers, the weighing station includes a holding device and a weighing device. The weighing device supports the holding device. Using the holding device and the weighing device, one of the containers can be weighed. The holding device holds the container in the defined position, and the weighing device weighs the container while it is held in that position. Because the weighing device supports the holding device, it can detect the weight force exerted by the container on the holding device while the holding device is in place.

[0013] The defined position is a position in space, particularly within the holding device. "Holding or securing in a defined position" in this context means that the container's freedom of movement is restricted by the holding device at the defined position, such that it can only leave the defined position with a sufficiently strong external force. For example, the holding device can secure the container by friction, particularly by clamping.

[0014] In particular, the holding device can be open in a first direction on two, especially opposite, sides, so that the container can be inserted into the defined position in the first direction from one of the two sides and removed from the defined position from the other of the two sides.

[0015] The holding device can be open on two opposite sides in the first direction, allowing the container to be inserted into the defined position from one of the two sides and removed from the defined position from the other. This means that the holding device is open in such a way that the container can be inserted into the defined position in the holding device by moving it from one side and removed from the defined position by moving it from the other side. The defined position is thus accessible from both sides in the first direction. Alternatively, the container can be inserted into the defined position from only one side in the first direction and removed from the defined position from the same side in the opposite direction.

[0016] In other words, the holding device is designed such that the container can be inserted into the defined position from one of the two sides and removed from the defined position from the other side. In this way, the container can be inserted into and removed from the defined position in the holding device from two opposite sides in the first direction. The first direction is preferably horizontal.

[0017] According to a second aspect of the present invention, a system, in particular a filling module, is provided, wherein the system comprises a first handling device and the weighing station according to the first aspect, wherein the first handling device is configured to place the container into the defined position in the holding device and to remove the container from the defined position in the holding device.

[0018] According to a third aspect of the present invention, a system, in particular a filling module, is provided, wherein the system comprises a first handling device, a second handling device and the weighing station according to the first aspect, wherein the first handling device is configured to place the container in the first direction into the defined position in the holding device, and wherein the second handling device is configured to remove the container in the first direction from to be taken from the defined position in the holding device. The system may also include further weighing stations, which are designed according to the first aspect, similar to the weighing station.

[0019] According to a fourth aspect of the present invention, a method for weighing containers, in particular pharmaceutical or cosmetic containers, at a weighing station is provided, wherein the weighing station has a holding device and a weighing device, wherein the weighing device carries the holding device, and wherein the method comprises the following steps: Inserting a container into a defined position in the holding device by means of a first handling device, wherein the holding device holds the container in the defined position, in particular holds it in place; Weighing the container using a weighing device while the container is held in the defined position by means of the holding device; and Removing the weighed container from the defined position in the holding device using the first handling device or a second handling device.

[0020] In particular, the holding device can be open on two sides in a first direction. During the insertion step, the container can be inserted into the defined position from one of the two sides using the first handling device. During the removal step, the weighed container can be removed from the defined position from the other of the two sides using the second handling device.

[0021] The procedure according to the fourth aspect can be carried out using the system according to the second or third aspect. The system can, in particular, be a filling module. The filling module can be part of a filling system in which containers can be filled with a pharmaceutical or cosmetic substance and then sealed. The filling system can include a barrier system that provides a protected, in particular aseptic or germ-free, environment. The barrier system can be, in particular, an isolator or a RABS (Removable Base Absorbing System). The filling module can be located within the barrier system. Furthermore, the filling system can include additional modules, such as a flaring module with a flaring station.

[0022] The first handling device and the second handling device can each have means for handling, in particular for transferring, at least one container. Preferably, the first handling device and the second handling device are of identical construction. In particular, both handling devices can each be designed as handling robots. The handling robot can have one or more gripping tools, each of which can grasp one container. In particular, the handling robot can have an end effector and a support structure, preferably multi-axis, at the end of which the end effector is mounted. The end effector can be moved within the system, in particular within the filling module, by means of the support structure. The end effector can have one or more gripping tools.In particular, each handling device can be designed to handle several, especially two, containers simultaneously. For this purpose, the handling robot can have several, especially two, gripping tools. Alternatively, the first handling device and / or the second handling device can also be designed as a linear transporter. For example, the linear transporter can be configured to push a container into the defined position and / or pull it out of the defined position.

[0023] In this context, "transferring a container" means moving the container from a first location, for example, a first processing station, to a second location, for example, a second processing station. To transfer the container, a handling device can, for example, pick up or grip the container at the first location, move it to the second location, and release it there.

[0024] To insert the container into the defined position in the holding device, the first handling device can move the container in the first direction from one side into the holding device until it reaches the defined position and release it there. To remove the container from the defined position in the holding device, the second handling device can pick up the container from the other side at the defined position and move it out in the first direction to the other side.

[0025] To weigh a container, the first handling device first moves the container into the defined position in the holding device from one of its two sides. Once the container is in the defined position, it is held there by the holding device. While the container is held in the defined position by the holding device, it is weighed by the weighing device. After weighing, the second handling device removes the container from the defined position from the other of its two sides.

[0026] The system may include a control unit. The control unit may be configured to control the weighing process. In particular, the control unit may be configured to control the first handling device and the second handling device. The control unit may also be configured to control the weighing device. In particular, the control unit may control the first handling device, the second handling device, and the weighing device to carry out the individual process steps of the procedure according to the third aspect.

[0027] According to the invention, the container is held in a defined position by the holding device while the weighing device weighs the container. Holding the container in this position during weighing ensures that it cannot tip over. Furthermore, holding the container in a defined position improves the accuracy and reliability of the weight measurement, particularly over a large number of weighing operations where each container is positioned in the same defined position for weighing.

[0028] Furthermore, the holding device is open on two opposite sides, allowing the container to be inserted into the defined position from one of these sides and removed from the defined position from the other. This enables the container to be inserted into and removed from the holding device from both opposite sides. As a result, no additional movement, particularly no additional vertical lifting motion, is required for weighing. This makes the weighing process faster and simpler.

[0029] According to the aspects of the invention, the weighing process is thus improved in terms of speed, simplicity, accuracy and safety.

[0030] The task posed at the beginning is thus fully solved.

[0031] In a first embodiment according to one of the aspects or one of its embodiments, the holding device may be designed to hold the container suspended.

[0032] In other words, the container hangs in the holding device in the defined position while it is being held. Specifically, no support surface is provided at the defined position on which the container can stand or be placed for weighing.

[0033] In a further embodiment according to one of the aspects or one of its embodiments, the holding device can have a clamping device for clamping the container at the defined position.

[0034] This way, the container can easily be held in the defined position, especially when hanging.

[0035] In a further embodiment according to one of the aspects or one of its embodiments, the clamping device can have two clamping elements, wherein the clamping elements are arranged in a second direction transversely, in particular perpendicularly, to the first direction on opposite sides of the defined position, wherein The clamping elements are designed to clamp the container in the defined position.

[0036] In this way, the container can be easily clamped at the defined position. Specifically, the container is clamped transversely, and especially perpendicularly, to the first direction when inserted in the first direction. The clamping therefore does not impede insertion or removal. The second direction is preferably horizontal.

[0037] In a further embodiment according to one of the aspects or one of its embodiments, the two clamping elements can be designed in such a way that they are pushed apart when the container is inserted into the defined position, in particular to clamp the container in the defined position.

[0038] In particular, the two clamping elements can be pre-tensioned towards each other in the second direction. For this purpose, the clamping elements can, for example, be designed elastically. Alternatively or additionally, the clamping elements can each be pre-tensioned towards each other in the second direction by a spring element. In this way, the clamping elements are forced apart when the container is inserted into the defined position. The container is then clamped between the clamping elements by the pre-tensioning force.

[0039] In a further embodiment according to one of the aspects or one of its embodiments, the holding device can be designed in such a way that it can hold different containers with different geometries, in particular with different diameters.

[0040] In this way, the weighing station is designed to weigh various types of containers. This increases the system's flexibility and eliminates the need for different format components. Preferably, the containers, such as vials, syringes, bottles, and ampoules, are cylindrical. In other words, these containers have a circular cylindrical cross-section. However, the The diameters of the containers may vary. In particular, the clamping device can be designed to be variable or flexible enough to adapt to the diameter of the containers. For example, the clamping elements can be arranged and elastically designed so that they are pressed apart to different distances depending on the container type. In this way, for example, it is possible to hold different containers with different geometries, especially with different diameters, in the defined position using the holding device.

[0041] In a further embodiment according to one of the aspects or one of its embodiments, the weighing device can be arranged below the holding device in a third direction, which runs transversely, in particular perpendicularly, to the first direction.

[0042] Preferably, the third direction can run transversely, and in particular perpendicularly, to the first and second directions. In particular, the third direction can be vertically oriented.

[0043] In a further embodiment according to one of the aspects or one of its embodiments, the holding device can have a support structure, wherein the clamping device is connected to the weighing device via the support structure.

[0044] In particular, the support structure carries the clamping device. When the container is clamped in the defined position by means of the clamping device, especially when suspended, the support structure thus also carries the container together with the clamping device. Since the support structure is in turn connected to the weighing device, the weighing device can determine the weight of the container via this support connection. The support structure can also be arranged in a third direction between the clamping device and the weighing device.

[0045] In a further embodiment according to one of the aspects or one of its embodiments, the support structure can have two support elements which are located in the are spaced apart from each other in the second direction, with each support element carrying one of the clamping elements.

[0046] In this way, the clamping elements are simply connected to the weighing device via the support elements. Because the support elements are spaced apart in the second direction, they are arranged in such a way that they leave a space between them in which the container can be positioned in the defined position. Preferably, the two support elements can be integrally formed. The support elements can extend in the third direction from the weighing device to the respective clamping element.

[0047] In a further embodiment according to one of the aspects or one of its embodiments, each support element can have a first end and a second end, wherein the weighing device is arranged at the first end and the respective clamping element is arranged at the second end.

[0048] In this way, the clamping elements are simply connected to the weighing device via the support elements. In particular, the two support elements can be connected to each other at their first ends. This makes the connection between the two support elements and the weighing device more stable. The first and second ends of each support element can be positioned on opposite sides of the support element in the third direction.

[0049] In a further embodiment according to one of the aspects or one of its embodiments, the support structure can be designed in a fork shape, in particular wherein the fork shape is formed by the two support elements.

[0050] In this way, the support structure is particularly slender. This results in a very small surface area exposed to airflow that could affect the structure and thus influence the weight measurement. This reduces the surface area exposed to laminar airflow, especially in barrier systems. Preferably, the support elements can be essentially rod-shaped, particularly with a rounded end. or angular cross-section. In particular, the support elements can be designed to be thin in cross-section in the first and second directions. For example, a distance in the second direction between the second ends of the support elements can be at least twice, preferably four to five times, as large as the largest physical dimension of each support element in the first and second directions.

[0051] In a further embodiment according to one of the aspects or one of its embodiments, the weighing device can have a load cell and a receiving element coupled to the load cell, wherein the receiving element is connected to the holding device.

[0052] Load cells are a special type of force transducer or force sensor used in weighing devices. The receiving element is connected to the holding device. In particular, the receiving element supports the holding device. When the holding device holds the container in the defined position, the weight of the container acts on the receiving element. Since the receiving element is coupled to the load cell, the load cell can detect the weight force acting on the receiving element and thus determine the weight of the container. In this way, the container can be weighed easily. The load cell can be positioned in a third direction below the receiving element.

[0053] In a further embodiment according to one of the aspects or one of its embodiments, the receiving element can be connected to the support structure, in particular to the first ends of the support elements of the support structure.

[0054] In other words, the holding element supports the support structure. When the holding device holds the container in the defined position, the weight of the container acts on the holding element via the clamping device and the support structure.

[0055] In a further embodiment according to one of the aspects or one of its embodiments, the weighing station can be a guiding device for guiding the have a holding device, wherein the guide device is designed to limit movement of the holding device in the first direction and / or the second direction.

[0056] Preferably, the guide device is designed to limit movement of the clamping device or the support structure in the first and / or second direction. This allows forces acting in the first and / or second direction when inserting or removing the container into or from the defined position to be absorbed. Without absorption by the guide device, these forces can lead to large torques and lateral forces acting on the weighing device, potentially overloading it. The guide device thus prevents overloading of the weighing device when inserting and removing the container into the defined position.

[0057] In a further embodiment according to one of the aspects or one of its embodiments, the guide device can be designed to guide the holding device in the third direction perpendicular to the first direction and the second direction.

[0058] In particular, the guide device can only limit the movement of the holding device in the first and second directions, especially horizontally. In the third, vertical direction, the holding device's movement is therefore unrestricted. Since the weight force acts vertically on the holding device, the weight measurement of the container is not affected by the guide device. By limiting the movement in the horizontal direction, horizontally acting forces during insertion and removal are absorbed.

[0059] In a further embodiment according to one of the aspects or one of its embodiments, the guide device can have at least one stop element which has at least one stop for the holding device in the first direction and / or the second direction.

[0060] In this way, movement of the holding device in the first and / or second direction is limited. "Limited" means that a certain degree of deflection or play is permissible before the holding device comes into contact with the stop element. Preferably, the stop element is associated with one of the support elements and forms at least one stop for it. For example, the stop element can have two first stops for the support element in the first direction. The first stops are arranged on opposite sides of the holding device in the first direction. This holds the support structure between the two first stops. Alternatively or additionally, the stop element can have a second stop for the support element in the second direction.

[0061] In a further embodiment according to one of the aspects or one of its embodiments, the guide device can have two stop elements which are arranged in the second direction on opposite sides of the holding device.

[0062] Preferably, each stop element is assigned to a support element and forms at least one stop for the respective support element. In particular, the second stops of the two stop elements can be arranged on opposite sides of the holding device in the second direction. This holds the support structure between the second stops of the two stop elements.

[0063] In a further embodiment according to one of the aspects or one of its embodiments, each stop element can be arranged at the second end of one of the support elements, wherein each stop element limits a movement of the corresponding support element in the first direction and / or the second direction.

[0064] The second end of each support element is furthest away from the weighing device. By arranging the stop elements at the second ends of the support- By using these elements, the movement of the support element is limited most efficiently at this point.

[0065] In a further embodiment according to one of the aspects or one of its embodiments, each stop element can have a recess, preferably U-shaped, into which the respective support element extends.

[0066] The recess limits the movement of the support structure in the first and second directions. In particular, the recess can form the first stops and the second stop of the respective stop element.

[0067] In a further embodiment according to one of the aspects or one of its embodiments, the weighing station can have a plurality of holding devices, in particular two holding devices, and a plurality of weighing devices, in particular two weighing devices, wherein each weighing device is assigned to a holding device, wherein each holding device is configured to hold a container in a respective defined position, and wherein each weighing device is configured to weigh the container held in the respective defined position.

[0068] In this way, several containers can be weighed simultaneously using the weighing station.

[0069] In a further embodiment according to the second or third aspect or one of its embodiments, the system can have a filling station for filling the container, wherein the first handling device is configured to transfer the container from the filling station to the weighing station.

[0070] The weighing station allows containers to be weighed before or after filling. The filling station can include a filling device for filling the container. This filling device can, for example, have one or more filling needles for dispensing the liquid into the container. The filling device can also include a The filling station must include a metering device by means of which the quantity of liquid to be dispensed can be metered. The filling station can be connected to a liquid reservoir, in particular a tank, via one or more hoses. The metering device can be arranged in a fluid path between the liquid reservoir and the filling needle. The liquid reservoir can be located inside or outside the filling module. Furthermore, the filling station can be designed such that several, in particular two, containers can be filled simultaneously. For this purpose, the filling station can, for example, have several, in particular two, filling needles.

[0071] In particular, the container can be weighed in the weighing station before and after filling. The difference in weight between the empty and full containers can then be used to determine the fill quantity. Alternatively, the container can be weighed in the weighing station only after filling. Knowing the empty weight, the fill quantity can then also be determined.

[0072] In a further embodiment according to the second or third aspect or one of its embodiments, the first handling device may be configured to transfer the container from the filling station to the weighing station and / or from the weighing station to the filling station.

[0073] In particular, the container can be filled at the filling station and then transferred to the weighing station using the first handling device, where the filled container is then weighed. Alternatively or additionally, the empty container can be weighed at the weighing station and then transferred to the filling station using the first handling device, where the container is then filled.

[0074] In a further embodiment according to the second or third aspect or one of its embodiments, the weighing station can be arranged at or in the filling station, wherein the filling station has a filling device which is configured to fill the container while the container is held in the defined position by means of the holding device.

[0075] In this way, the container is filled and weighed in one location. This allows the filling process to be carried out more quickly. In particular, while the container is held in the defined position by the holding device, it can first be weighed empty, then filled, and then weighed again when full. This further improves the filling process.

[0076] In a further embodiment according to the second or third aspect or one of its embodiments, the system can have a plug-setting station for placing a plug on the container, wherein the second handling device is configured to transfer the container from the weighing station to the plug-setting station.

[0077] Thus, the container is only sealed with the plug after weighing at the weighing station. The plug-setting station can include means for placing a plug. For example, the plug-setting station can have a support structure and a plug-setting device that is movable by means of the support structure. The plug-setting device is designed to insert a plug into the opening of the container. The plug-setting station can also have a feeder through which the plugs are supplied to the plug-setting device. The plug-setting station can be connected to a plug reservoir in which a number of plugs are stored. The plug reservoir can have a singulation device in which the plugs are separated before being fed individually to the plug-setting device via the feeder. Alternatively, the plugs can be supplied loosely on a plate.The position of the plugs can be detected by a sensor device, such as a camera. The plug-setting device can include a robot that, based on the detected position, picks up a plug and feeds it to the device or places it directly onto the container. Furthermore, the plug-setting station can be designed to place a plug on several containers simultaneously, particularly two.

[0078] In a further embodiment according to the fourth aspect or one of its embodiments, the weighing step can be a second weighing in which the filled container is weighed, wherein in the insertion step the container is inserted empty, the method further comprising the following steps: First weighing of the empty container using a weighing device, while the container is held in the defined position by means of the holding device; and Filling the empty, weighed container using a filling device of the filling station, especially while the container is held in the defined position by means of the holding device.

[0079] In particular, the container is filled with a pharmaceutical or cosmetic substance. The container is weighed at the weighing station before and after filling. The fill quantity can then be determined from the difference in weight between the empty and filled containers. Specifically, while the container is held in the defined position by the holding device, it can first be weighed empty, then filled, and then weighed again when full. This further improves the filling process.

[0080] In a further embodiment according to the fourth aspect or one of its embodiments, the procedure may further include the following step: First transfer of the container to the weighing station by means of the first handling device, in particular wherein the first handling device transfers the container from a filling station to the weighing station, wherein in the filling station the container is filled with a pharmaceutical or cosmetic substance.

[0081] In particular, the first transfer step takes place before the insertion step. Specifically, the container can be filled in the filling station and then transferred to the weighing station using the first handling device, where the filled container is then weighed.

[0082] In a further embodiment according to the fourth aspect or one of its embodiments, the procedure may further include the following step: Second transfer of the container from the weighing station to a plug-setting station using the first handling device or the second handling device, in particular wherein a plug is placed on the container in the plug-setting station.

[0083] In particular, the second transfer step takes place after the removal step. Thus, the container is only sealed with the stopper after weighing at the weighing station.

[0084] It is understood that the features mentioned above and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present invention.

[0085] Exemplary embodiments of the invention are shown in the drawing and are explained in more detail in the following description. They show: Fig: 1 an isometric view of an embodiment of a weighing station for weighing containers; Fig. 2 shows the view of the weighing station from Fig. 1 with two containers held in place; Fig. 3 shows a side view of the weighing station from Fig. 1; Fig. 4 shows the view of the weighing station from Fig. 3 with two containers held in place; Fig. 5 shows a top view of the weighing station from Fig. 1; Fig. 6 shows the view of the weighing station from Fig. 5 with two containers held in place; Fig. 7 shows a sectional view along a line VII-VII in Fig. 3, which shows the arrangement of a guide device on the holding device of the weighing station from Fig. 1; Fig. 8 shows a view of a clamping device of a holding device of the weighing station from Fig. 1; Fig. 9 shows the view of the clamping device from Fig. 8 with a container held in place; Fig. 10 shows a schematic view of a first embodiment of a system with a weighing station; Fig. 11 shows an exemplary view of the arrangement of the weighing station and two handling devices in the system from Fig. 10; Fig. 12 is an isometric view of a handling device of the system from Fig. 10; and Fig. 13 shows a schematic view of a first embodiment of a method for weighing containers; Fig. 14 shows a schematic view of a second embodiment of a method for weighing containers.

[0086] Figures 1 to 9 show an embodiment of a weighing station in its entirety, designated by reference numeral 10. The weighing station 10 is used for weighing containers 12. Individual containers 12 can be weighed simultaneously or sequentially in the weighing station 10. In particular, two containers 12 can be weighed simultaneously in the weighing station 10. In Figures 1, 3, and 5, the weighing station 10 is shown in various views without containers. In Figures 2, 4, and 6, the weighing station 10 is shown in various views with two containers 12.

[0087] The weighing station 10 has one or more holding devices 14 and one or more weighing devices 16. In particular, the weighing station 10 has two holding devices 14 and two weighing devices 16. However, the weighing station 10 can also have only one holding device 14 and only one weighing device 16. Alternatively, the weighing station 10 can also have more than two holding devices 14 and weighing devices 16. Each weighing device 16 is associated with one holding device 14. In particular, each weighing device 16 carries one of the holding devices 14.

[0088] Each holding device 14 is configured to hold one container 12 in a respective defined position 18. In particular, each holding device 14 is configured to hold the respective container 12 suspended. Each weighing device 16 is configured to weigh the respective container 12 while it is held in the respective defined position 18. In particular, the respective defined position 18 is located in the corresponding holding device 14.

[0089] With respect to weighing station 10, a first direction 20, a second direction 22, and a third direction 24 are defined. The first direction 20 and the second direction 22 are horizontally oriented. The third direction 24 is vertically oriented. The first direction 20 and the second direction 22 are arranged transversely, in particular perpendicularly, to each other. The third direction 24 is arranged transversely, in particular perpendicularly, to the first direction 20 and the second direction 22.

[0090] Each holding device 14 is arranged in the third direction 24 above the corresponding weighing device 14. The two holding devices 14 are arranged side by side in the second direction 22. The two weighing stations 16 are arranged side by side in the second direction 22.

[0091] Each weighing device 16 has a load cell 26 and a receiving element 28. The receiving element 28 is coupled to the load cell 26. In particular, the receiving element 28 is arranged in the third direction 24 above the load cell 26. The receiving element 28 is connected to the corresponding holding device 14. In particular, the receiving element 28 carries the holding device 14.

[0092] Each holding device 14 has a first side 30 and a second side 32. The first side 30 and the second side 32 are arranged opposite each other in the first direction 20. In particular, the defined position 18 is located in the first direction between the two sides 30 and 32. Each holding device 14 is open towards the first side 30 and the second side 32. In particular, the defined position 18 is accessible from both the first side 30 and the second side 32. Thus, the container 12 can be inserted into the defined position 18 from the first side 30, for example by means of a handling device, and removed from the defined position 18 from the second side 32, for example by means of a handling device.

[0093] Each holding device 14 has a clamping device 34 for clamping the container 12 at the respective defined position 18. The clamping device 34 has two clamping elements 36. The clamping elements 36 are arranged on opposite sides of the defined position 18 in the second direction 22. The clamping elements 36 are designed to clamp the container 12 at the defined position 18. The two clamping elements 36 are designed such that they are forced apart when the container 12 is inserted into the defined position 18 in order to clamp the container 12 in the defined position 18. In particular, the two clamping elements 36 can be pre-tensioned towards each other in the second direction 22.

[0094] Each holding device 14 is designed to hold different containers with different geometries, in particular with different diameters. In particular, the clamping device 34 can be designed to be variable or flexible enough to adapt to the diameter of the respective container.

[0095] Each holding device 14 has a support structure 38. The clamping device 34 is connected to the corresponding weighing device 16 via the support structure 38. In particular, the support structure 38 carries the clamping device 34. The support structure 38 is arranged in the third direction 24 between the weighing device 16 and the clamping device 34.

[0096] The support structure 38 has two support elements 40. The two support elements 40 are spaced apart from each other in the second direction 22. Each support element 40 carries one of the clamping elements 36. In particular, each support element 40 is connected to the corresponding clamping element 36. The support elements 40 extend in the third direction 24 from the weighing device 16 to the respective clamping element 36. Each support element 40 has a first end 42 and a second end 44. The weighing device 16 is arranged at the first end 42. The respective clamping element 36 is arranged at the second end 44. The first end 42 and the second end 44 of each support element 40 are arranged on opposite sides of the support element 40 in the third direction 24.

[0097] The support structure 38 is designed in a fork shape. In particular, the fork shape is formed by the two support elements 40. For this purpose, the two support elements 40 are connected to each other at their first ends 42. Preferably, the two support elements 40 are integrally formed. The receiving element 28 supports the support structure 38. In particular, the receiving element 28 is connected to each support element 40.

[0098] The weighing station 10 further comprises a guide device 46 for guiding each holding device 14. Fig. 7 shows the guide device 46 and its arrangement on the holding device 14 in detail.

[0099] The guide device 46 is configured to limit the movement of each holding device 14 in the first direction 20 and / or the second direction 22. In particular, the guide device 46 is configured to limit the movement of the clamping device 34 or the support structure 38 in the first direction 20 and / or the second direction 22. In the present embodiment, the movement of each holding device 14 is limited in both the first direction 20 and the second direction 22. This allows the guide device 46 to guide each holding device 14 in the third direction 24.

[0100] The guide device 46 has at least one stop element 48. The stop element 48 has at least one stop 50, 52 for the holding device 14 in the first direction 20 and / or the second direction 22. In the present embodiment, the guide device 46 has two stop elements 48 for each holding device 14. These stop elements 48 are arranged on opposite sides of the respective holding device 14 in the second direction 22. In particular, the two stop elements 48 that are arranged between the two holding devices 14 are integrally formed.

[0101] Each stop element 48 is assigned to one of the support elements 40 and forms at least one stop 50, 52 for it. Each stop element 48 is arranged at the second end 44 of the respective support element 40. Thus, each stop element 48 limits the movement of the corresponding support element 40 in the first direction 20 and / or the second direction 22.

[0102] Each stop element 48 has two first stops 50 for the corresponding support element 40 in the first direction 20. The first stops 50 are arranged on opposite sides of the respective holding device 14 in the first direction 20. Each stop element 48 may have a second stop 52 for the corresponding support element 40 in the second direction 22. In particular, the two second stops 52 of the two stop elements 48 for a holding device 14 are arranged on opposite sides of the holding device 14 in the second direction 22.

[0103] Each stop element 48 has a recess 54, preferably U-shaped, into which the respective support element 40 extends. In particular, the recess 54 forms the first stops 50 and the second stop 52 of the respective stop element 48.

[0104] Figures 8 and 9 show the clamping device 34 in detail. Each clamping element 36 has a clamping section 60 and a fastening section 62. The clamping section 60 and the fastening section 62 are shown in the second direction- The clamping elements 36 and 42 are arranged on opposite sides of each other. The two clamping sections 60 of the two clamping elements 36 face each other in the second direction 22. The fastening section 62 is attached to the second end 44 of the corresponding support element 40. An elastic section 64 is arranged between the fastening section 62 and the clamping section 60, via which the clamping section 60 is connected to the fastening section 62. The elastic section 64 can have two spring sections 66. The two spring sections are arranged on opposite sides of the respective clamping element 36 in the first direction. The two clamping sections 60 of the two clamping elements 36 serve to receive and clamp a container 12 between them. Each clamping section 60 has a recess 68 for this purpose.

[0105] To clamp the container 12 in the defined position 18, the container is inserted between the two clamping sections 60. The two clamping sections 60 are then pushed apart in the second direction 22, and the container is received and clamped between the recesses 66.

[0106] Figures 10 to 12 show an embodiment of a system in its entirety, designated by reference numeral 80. System 80 can, in particular, be a filling module of a filling plant.

[0107] System 80 comprises a first handling device 82, a second handling device 84, and the weighing station 10. The weighing station 10 can be configured according to Figures 1 to 9.

[0108] The first handling device 82 can handle the containers 12 individually or in pairs. The first handling device 82 is configured to place one container 12 at a time in the first direction 20 into the defined position 18 in each holding device 14. The second handling device 84 can also handle the containers 12 individually or in pairs. The second handling device 84 is configured to remove the respective container 12 in the first direction 20 from the defined Position 18 in each holding device 14 can be removed. In particular, both handling devices 82, 84 can each be designed as handling robots.

[0109] The two handling devices 82, 84 are arranged on opposite sides of the weighing station 10 in the first direction 20. Specifically, the first handling device 82 is arranged on the first side 30 of each holding device 14, and the second handling device 84 is arranged on the second side 32 of each holding device 14. The first handling device 82 can insert a container from the first side 30 into the defined position 18 in the respective holding device 14. The second handling device 84 can then remove the container from the defined position 18 in the respective holding device 14 from the second side 32. The arrangement of the two handling devices 82, 84 on the weighing station 10 is shown by way of example in Fig. 11.

[0110] The system 80 can further include a filling station 86 for filling each container 12. In particular, the containers 12 can be filled with a pharmaceutical or cosmetic substance in the filling station 86. The first handling device 82 is configured to transfer the containers 12 individually or in pairs from the filling station 86 to the weighing station 10. In the weighing station 10, the filled containers 12 are then weighed individually or in pairs. In particular, two containers can be held simultaneously in the two holding devices 14 and then weighed simultaneously by means of the respective weighing device 16.

[0111] The system 80 can further include a stopper placement station 88 for placing a stopper on each container 12. The second handling device 82 is configured to transfer the weighed containers 12 individually or in pairs from the weighing station 10 to the stopper placement station 88.

[0112] Figure 12 shows the detailed design of the first handling device 82. The second handling device 84 is identical to the first handling device 82.

[0113] The first handling device 82 has two gripping tools 90. Each gripping tool 90 can grasp one container. The first handling device 82 is designed as a handling robot. The first handling device 82 has a support structure 92 and an end effector 94. The support structure 92 is multi-axis or multi-armed. In Fig. 12, the support structure 92 is shown with only one arm for illustrative purposes. The end effector 94 is attached to one end of the support structure 92. The end effector 94 can be moved within the system 80 by means of the support structure 92. The end effector 94 has the gripping tools 90.

[0114] The system may further include a control unit (not shown). The control unit may be configured to control the weighing process in the system 80. In particular, the control unit may be configured to control the first handling unit 82 and the second handling unit 84. The control unit may also be configured to control each weighing device 16.

[0115] The control unit can, for example, comprise various subunits, each responsible for controlling a component and / or processing data. For instance, the control unit can include a control unit that controls the two handling devices 82 and 84 and the weighing device 16. The control unit can, for example, send control commands to the respective components. Furthermore, the control unit can include a data processing unit configured to perform data evaluation. The data processing unit can, for example, determine, based on the weighed weight, whether a specific quantity is present in the weighed container 12.

[0116] The control device may be connected to or include non-volatile data storage in which a computer program is stored. In some embodiments, the control device is a general-purpose computer, such as a standard personal computer running Windows®, Linux, or MacOS, and the computer program in memory includes program code designed and configured to implement control and determination steps. In an alternative embodiment, the control device is a logic circuit, such as a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a microcontroller, or any other suitable programmable electrical circuit. Control and determination steps can be implemented within the logic circuit. Any suitable programming language or hardware description language, such as C, VHDL, and the like, can be used to implement the control and determination steps in the logic circuit.

[0117] Fig. 13 shows a first embodiment of a method in its entirety, designated by reference numeral 100. The method 100 is used for weighing containers 12, in particular pharmaceutical or cosmetic containers 12, at a weighing station 10. The weighing station 10 can be configured, in particular, according to the weighing station 10 shown in Figures 1 to 9. The method 100 can be carried out, in particular, using the system 80 shown in Figures 10 to 12. The individual process steps can be controlled, for example, by means of the control unit of the system 80.

[0118] In a first step 102 of the method 100, a container 12 is inserted in the first direction 20 from one of the two sides 30, 32 into the defined position 18 by means of the first handling device 82, wherein the holding device 14 holds the container 12 in the defined position 18. The container 12 can be empty or full. In particular, one container 12 can be inserted in the first direction 20 from the first side 30 into the defined position 18 in each holding device 14 by means of the first handling device 82, wherein each holding device 14 holds the corresponding container 12 in the respective defined position 18.

[0119] In a further step 104 of the procedure 100, the container 12 is weighed using the weighing device 16, while the container 12 is held in the defined position 18 by means of the holding device 14. The container 12 can be weighed empty or full. In particular, each container 12 can be weighed using the appropriate weighing device- The container 12 is held in the respective defined position 18 by means of the corresponding holding device 14, while the container 12 is held in the respective defined position 18.

[0120] In a further step 106 of the procedure 100, the weighed container 12 is removed in the first direction 20 from the other of the two sides 30, 32 from the defined position 18 by means of the second handling device 84. In particular, each weighed container 12 can be removed in the first direction 20 from the second side 32 from the respective defined position 18 by means of the second handling device 84.

[0121] In a further, optional step 108 of the process 100 prior to step 102, the container 12 is transferred from the filling station 86 to the weighing station 10 by means of the first handling device 82. At the filling station 86, the container 12 can be filled with a pharmaceutical or cosmetic substance. Specifically, the first handling device 82 transfers the filled containers 12 individually or in pairs from the filling station 86 to the weighing station 10.

[0122] In a further, optional step 110 of the process 100 following step 106, the container 12 is transferred from the weighing station 10 to the plug-setting station 88 by means of the second handling device 84. A plug can be placed on the container 12 at the plug-setting station 88. Specifically, the second handling device 84 transfers the weighed containers 12 individually or in pairs from the weighing station 10 to the plug-setting station 88.

[0123] Fig. 14 shows a second embodiment of a method in its entirety designated by reference numeral 120. Method 120 is used for weighing containers 12, in particular pharmaceutical or cosmetic containers 12, at a weighing station 10. The weighing station 10 can be configured, in particular, according to the weighing station 10 shown in Figures 1 to 9. Method 120 can be carried out, in particular, using the system 80 shown in Figures 10 to 12. The individual process steps can be controlled, for example, by means of the control unit of the system 80.

[0124] In a first step 122 of the method 120, an empty container 12 is inserted in the first direction 20 from one of the two sides 30, 32 into the defined position 18 by means of the first handling device 82, wherein the holding device 14 holds the container 12 in the defined position 18. In particular, an empty container 12 can be inserted in the first direction 20 from the first side 30 into the defined position 18 in each holding device 14 by means of the first handling device 82, wherein each holding device 14 holds the corresponding container 12 in the respective defined position 18.

[0125] In a further step 124 of the method 120, the empty container 12 is weighed using the weighing device 16, while the container 12 is held in the defined position 18 by means of the holding device 14. In particular, each container 12 can first be weighed empty using the corresponding weighing device 16, while the container 12 is held in the respective defined position 18 by means of the corresponding holding device 14.

[0126] In a further step 126 of the process 120, the empty, weighed container 12 is filled by means of a filling device of the filling station 86. For example, the container 12 can be filled while it is held in the defined position 18 by means of the holding device 14. For this purpose, the weighing station 10 can be arranged at or in the filling station 86. Alternatively, the empty, weighed container 12 can also be removed from the defined position in the holding device 14 by means of the first or second handling device 82, 84, transferred to the filling station 86, filled in the filling station 86, then transferred back to the weighing station 10, and placed back into the defined position 18 in the holding device 14.In particular, each container 12 can be filled by means of the filling device, while the container 12 is held in the respective defined position 18 by means of the corresponding holding device 14.

[0127] In a further step 128 of the method 120, the filled container 12 is weighed using the weighing device 16, while the container 12 is held in the defined position 18 by means of the holding device 14. In particular, each filled container 12 can be weighed using the corresponding weighing device 16 while the container 12 is held in the defined position 18. 12 is held in the respective defined position 18 by means of the corresponding holding device 14.

[0128] In a further step 130 of the process 120, the filled, weighed container 12 is removed in the first direction 20 from the other of the two sides 30, 32 from the defined position 18 by means of the second handling device 84. In particular, each filled, weighed container 12 can be removed in the first direction 20 from the second side 32 from the respective defined position 18 by means of the second handling device 84.

[0129] In a further, optional step 132 of the process 120 prior to step 122, the container 12 is transferred to the weighing station 10 by means of the first handling device 82. In particular, the first handling device 82 can transfer the containers 12 individually or in pairs to the weighing station 10. For example, the first handling device 82 can transfer the container 12 from another location, such as from a transfer station to a previous module, to the weighing station 10.

[0130] In a further, optional step 134 of the process 120 following step 130, the container 12 is transferred from the weighing station 10 to the plug-setting station 88 by means of the second handling device 84. A plug can be placed on the container 12 at the plug-setting station 88. Specifically, the second handling device 84 transfers the weighed containers 12 individually or in pairs from the weighing station 10 to the plug-setting station 88.

Claims

Patent claims 1. Weighing station (10) for weighing containers (12), in particular pharmaceutical or cosmetic containers, wherein the weighing station (10) has a holding device (14) and a weighing device (16), wherein the holding device (14) is configured to hold a container (12) in a defined position (18), wherein the weighing device (16) is configured to weigh the container (12) held in the defined position (18), and wherein the weighing device (16) supports the holding device (14).

2. Weighing station (10) according to claim 1, wherein the holding device (14) is open in a first direction (20) on two sides (30, 32) so that the container (12) can be inserted into the defined position (18) in the first direction (20) from one of the two sides (30, 32) and removed from the defined position (18) from the other of the two sides (30, 32).

3. Weighing station (10) according to claim 2, wherein the holding device (14) is configured to hold the container (12) suspended.

4. Weighing station (10) according to one of claims 1 to 3, wherein the holding device (14) has a clamping device (34) for clamping the container (12) at the defined position (18).

5. Weighing station (10) according to claim 4, wherein the clamping device (34) has two clamping elements (36), wherein the clamping elements (36) are arranged in a second direction (22) transversely, in particular perpendicularly, to the first direction (20) on opposite sides of the defined position (18), wherein the clamping elements (36) are designed to clamp the container (12) at the defined position (18).

6. Weighing station (10) according to claim 4 or 5, wherein the holding device (14) has a support structure (38), wherein the clamping device (34) is connected to the weighing device (16) via the support structure (38).

7. Weighing station (10) according to claim 6, wherein the support structure (38) has two support elements (40) which are spaced apart from each other in the second direction (22), each support element (40) carrying one of the clamping elements (36).

8. Weighing station (10) according to claim 7, wherein each support element (40) has a first end (42) and a second end (44), wherein the weighing device (16) is arranged at the first end (42) and the respective clamping element (36) is arranged at the second end (40).

9. Weighing station (10) according to one of claims 6 to 8, wherein the support structure (38) is designed in a fork shape, in particular wherein the fork shape is formed by the two support elements (40).

10. Weighing station (10) according to one of claims 1 to 9, wherein the weighing device comprises a load cell (26) and a receiving element (28) coupled to the load cell (26), wherein the receiving element (28) is connected to the holding device (14).

11. Weighing station (10) according to claim 10, wherein the receiving element (28) is connected to the support structure (38), in particular to the first ends (42) of the support elements (40) of the support structure (38).

12. Weighing station (10) according to one of claims 1 to 11, wherein the weighing station (10) has a guide device (46) for guiding the holding device (14), wherein the guide device (46) is designed to limit movement of the holding device (14) in the first direction (20) and / or the second direction (22).

13. Weighing station (10) according to claim 12, wherein the guide device (46) is configured to guide the holding device (14) in a third direction (24) perpendicular to the first direction (20) and the second direction (22).

14. Weighing station (10) according to claim 12 or 13, wherein the guide device (46) has at least one stop element (48) which has at least one stop (50, 52) for the holding device (14) in the first direction (20) and / or the second direction (22).

15. Weighing station (10) according to claim 14, wherein the guide device (46) has two stop elements (48) which are arranged in the second direction (22) on opposite sides of the holding device (14).

16. Weighing station (10) according to claim 14 or 15, wherein each stop element (48) is arranged at the second end (44) of one of the support elements (40), wherein each stop element (48) limits a movement of the corresponding support element (40) in the first direction (20) and / or the second direction (22).

17. Weighing station (10) according to one of claims 14 to 16, wherein each stop element (48) has a, preferably U-shaped, recess (54) into which the respective support element (40) extends.

18. Weighing station (10) according to any one of claims 1 to 17, wherein the weighing station (10) has a plurality of holding devices (14), in particular two holding devices (14), and a plurality of weighing devices (16), in particular two weighing devices (16), wherein each weighing device (16) is assigned to a holding device (14), wherein each holding device (14) is configured to hold a container (12) in a respective defined position (18), wherein each weighing device (16) is configured to weigh the container (12) held in the respective defined position (18).

19. System (80), in particular filling module, wherein the system (80) comprises a first handling device (82) and the weighing station (10) according to one of claims 1 to 18, wherein the first handling device (82) is configured to place the container (12) into the defined position (18) in the holding device (14) and to remove the container (12) from the defined position (18) in the holding device (14).

20. System (80), in particular filling module, wherein the system (80) comprises a first handling device (82), a second handling device (84) and the weighing station (10) according to any one of claims 1 to 18, wherein the first handling device (82) is configured to insert the container (12) in the first direction (20) into the defined position (18) in the holding device (14), wherein the second handling device (84) is configured to remove the container (12) in the first direction (20) from the defined position (18) in the holding device (14).

21. System (80) according to claim 19 or 20, wherein the system (80) has a filling station (86) for filling the container (12).

22. System (80) according to claim 21, wherein the first handling device (82) is configured to transfer the container (12) from the filling station (86) to the weighing station (10) and / or from the weighing station (10) to the filling station (86).

23. System (80) according to claim 21, wherein the weighing station (10) is arranged at or in the filling station (86), wherein the filling station (86) has a filling device which is configured to fill the container (12) while the container (12) is held in the defined position (18) by means of the holding device (14).

24. System (80) according to any one of claims 19 to 23, wherein the system (80) comprises a stopper placement station (88) for placing a stopper onto the container (12), wherein the second handling device (84) is configured to to transfer containers (12) from the weighing station (10) to the plugging station (88).

25. Method (100) for weighing containers (12), in particular pharmaceutical or cosmetic containers, at a weighing station (10), wherein the weighing station (10) comprises a holding device (14) and a weighing device (16), wherein the weighing device (16) supports the holding device (14), wherein the method (100) comprises the following steps: Insertion (102, 122) of a container (12) into a defined position (18) in the holding device (14) by means of a first handling device (82), wherein the holding device (14) holds the container (12) in the defined position (18); Weighing (104, 124, 128) the container (12) by means of a weighing device (16) while the container (12) is held in the defined position (18) by means of the holding device (14); and Removing (106, 130) the weighed container (12) from the defined position (18) in the holding device (14) by means of the first handling device (82) or a second handling device (84).

26. Method (100) according to claim 25, wherein the holding device (14) is open in a first direction (20) on two sides (30, 32), wherein in the insertion step (102, 122) the container (12) is inserted in the first direction (10) from one of the two sides (30, 32) into the defined position (18) by means of a first handling device (82), wherein in the removal step (106, 130) the weighed container (12) is removed in the first direction (20) from the defined position (18) by means of the second handling device (84).

27. Method (100) according to claim 25 or 26, wherein the weighing step (104, 124, 128) is a second weighing (128) in which the filled container (12) is weighed, wherein in the insertion step (102) the container (12) is inserted empty, wherein the method (100) further comprises the following steps: First weighing (124) of the empty container using a weighing device (16), while the container (12) is held in the defined position (18) by means of the holding device (14); and Filling (126) the empty, weighed container (12) by means of a filling device of the filling station (86), in particular while the container (12) is held in the defined position (18) by means of the holding device (14).

28. Method (100) according to any one of claims 25 to 27, wherein the method (100) further comprises the following step: First transfer (108, 132) of the container (12) to the weighing station by means of the first handling device, in particular wherein the first handling device (82) transfers the container (12) from a filling station (86) to the weighing station, wherein in the filling station (86) the container (12) is filled with a pharmaceutical or cosmetic substance.

29. Method (100) according to any one of claims 25 to 28, wherein the method (100) further comprises the following step: Second transfer (110, 134) of the container (12) from the weighing station (10) to a plug-setting station (88) by means of the first handling device (82) or the second handling device (84), in particular wherein a plug is placed on the container (12) in the plug-setting station (88).

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