Handling robot for a clean room environment, clean room facility having at least one such handling robot, and method for handling objects in a clean room environment
The handling robot with a movable base and bearing unit addresses flexibility and compliance issues, enabling efficient handling and maintenance in cleanroom environments by allowing a large operating radius and reduced robot count.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SYNTEGON TECHNOLOGY GMBH
- Filing Date
- 2025-12-10
- Publication Date
- 2026-06-25
AI Technical Summary
Existing handling robots for cleanroom environments have limited operating radius and flexibility, pose risks due to fixed locations, and cannot be easily moved to comply with cleanroom standards, leading to potential collisions and mechanical overload.
A handling robot with a movably mounted robot base and a movement and/or bearing unit that allows the robot base to be moved relative to a surface, enabling a large operating radius and flexible positioning, with a design that separates sterile and non-sterile areas and facilitates easy access for maintenance.
The robot achieves high flexibility and compliance with cleanroom standards, allowing it to handle large loads, minimize mechanical stress, and reduce the number of robots required by assigning a single robot to multiple stations, while ensuring easy accessibility and minimal impact on airflow.
Smart Images
Figure EP2025086228_25062026_PF_FP_ABST
Abstract
Description
[0001] Description
[0002] Handling robot for a cleanroom environment, cleanroom system with at least one such handling robot, and methods for handling objects in a cleanroom environment
[0003] State of the art
[0004] The invention relates to a handling robot for a cleanroom environment, comprising at least one robot arm, at least one robot flange arranged at at least one end of the robot arm, at least one end effector for handling objects arranged on the robot flange, and at least one robot base on which the robot arm is arranged.
[0005] Such handling robots for cleanroom environments are already known, but these existing robots, due to their fixed location within the cleanroom, can have a limited operating radius and low flexibility in movement and application. Furthermore, the fixed location of these known handling devices can lead to situations where, during a gripping operation, the robot arm moves through the cleanroom in such a way that the "First Air" principle (see EU GMP Annex 1 "Manufacture of Sterile Medicinal Products", published on August 25, 2022) cannot be observed. Additionally, handling objects at distant positions requires the robot arm to be fully extended, which can create a risk of singularities and mechanical overload of the robot arm's joints.In close proximity to gripping positions, the robot arm may collide with a robot base of known handling devices, or it may lead to "bending" of the robot arm.
[0006] In sterile filling operations in a cleanroom environment, even known handling devices in a parked position near a filling point can pose a risk within the meaning of the aforementioned European Directive, since in particular the robot arm is not autoclavable and the known handling devices, due to their fixed location within the cleanroom environment, cannot be moved away from the filling point without effort.
[0007] From DE 20 2009 009 334 Ul, CN 1 11 958 582 A and DE 20 2015 101 621 Ul, handling robots with at least one, in particular multi-axis, robot arm, with at least one robot flange which is arranged at at least one end of the robot arm and is provided for a detachable connection with at least one end effector, and with at least one robot base on which the robot arm is arranged, in particular movably mounted, are already known, wherein the handling robots already known are not specifically designed for an application in a cleanroom environment.
[0008] The object of the invention is, in particular, to provide a generic handling robot, a generic method, and a generic cleanroom system with improved properties regarding high flexibility in terms of application area while simultaneously ensuring reliable compliance with cleanroom standards. This object is achieved according to the invention by the features of claims 1, 5, 9, and 10, respectively, while advantageous embodiments and further developments of the invention can be found in the dependent claims.
[0009] Advantages of the invention
[0010] The invention relates to a handling robot, in particular an articulated robot, for a cleanroom environment, with at least one, in particular multi-axis, robot arm, with at least one robot flange which is arranged at at least one end of the robot arm and is provided for a detachable connection with an end effector, and with at least one robot base on which the robot arm is arranged, in particular movably mounted.It is proposed that the handling robot comprise at least one movement and / or bearing unit on which the robot base is arranged, in particular movably mounted, and which is designed to move at least the robot base relative to a surface. The movement and / or bearing unit comprises at least one support element, in particular designed as a support plate; at least one movement and / or bearing element, in particular designed as a swivel arm, to which the robot base is attached and which is movably, in particular rotatably, mounted on the support element; and at least one drive, wherein the movement and / or bearing element is arranged on a side of the support element facing away from the drive, in particular on the top side. "Designed" is understood to mean, in particular, specifically programmed, specifically designed, specifically configured, and / or specifically equipped.The phrase "an object is intended for a specific function" means, in particular, that the object fulfills and / or performs this specific function in at least one application and / or operating state. The inventive design of the handling robot advantageously enables a safe arrangement of the robot's power and data supply outside a sterile area of the cleanroom environment. It also advantageously prevents the movement of components of the handling robot from a gray area into a sterile area of the cleanroom environment. Furthermore, it advantageously enables a power and data supply for the handling robot that is easy to implement and allows for a reliable and structurally simple division of the cleanroom environment into a gray area and a sterile area. Finally, it advantageously allows for a large operating radius of the handling robot.Furthermore, the ability to move the robot base relative to the surface advantageously allows a single handling robot according to the invention to be assigned to several processing stations in the cleanroom environment, thus advantageously reducing the number of handling robots required in the cleanroom environment. Additionally, the ability to move the robot base relative to the surface advantageously allows for a suitable pose of the robot arm for the intended application, which can be advantageously selected to allow for a smaller extension of the robot arm. This enables the robot to handle, for example, large loads, since static moments in joints are low at smaller extensions.A small handling robot can also be advantageously used for handling objects at processing stations in cleanroom environments, as the ability to move the robot base relative to the surface allows for an additional degree of freedom of movement. Optimized poses of the handling robot can be implemented to suit specific applications, such as pharmaceutical, sterile, and / or aseptic filling systems, and minimize the impact of a unidirectional airflow.It can be advantageous to provide easy accessibility, as the handling robot can, for example, be moved to a maintenance position by the ability to move the robot base relative to the ground, so that it can be easily repaired, assembled or disassembled, or moved out of an access area to allow an operator easy access to a processing station in the cleanroom environment.Due to the connection between the robot arm and the robot base, it can be structurally simple to approach a zero position for programming movement sequences of the robot arm, since, for example, a mechanical stop can be provided on the robot base, which can be used to easily find a zero position of the robot arm relative to the robot base, and / or a mechanical stop can be provided on the movement and / or bearing unit, which can be used to easily find a zero position of the robot base relative to the surface.
[0011] The handling robot according to the invention is preferably used in a cleanroom environment, particularly in a pharmaceutical production plant or in a sterile and / or aseptic filling plant. The handling robot is preferably designed as an articulated arm robot, preferably multi-axis, preferably five-axis, preferably six-axis. The handling robot is preferably designed as a collaborative articulated arm robot. However, it is also conceivable that the handling robot is designed as a classic articulated arm robot, arranged in a closed environment, particularly enclosed or the like, to handle objects, and which is shielded from human workers.Preferably, the handling robot is specifically designed for use in a cleanroom environment, for example, by having a protective cover and / or coating for the robot arm, the robot flange, and / or the robot base. The handling robot preferably comprises, in a manner known to those skilled in the art, a plurality of drives, in particular servo motors or the like, for controlled or regulated movement of the robot arm and / or the robot flange relative to each other and / or relative to the robot base. The handling robot preferably includes at least one end effector for handling objects. Preferably, the end effector is interchangeably connectable to the robot flange via a connection interface known to those skilled in the art.The end effector is preferably in a state arranged on the robot flange and can be supplied with energy for operation in a manner already known to a person skilled in the art, and is connected to a computing unit of the handling robot for data transmission.
[0012] The robot arm preferably comprises a plurality of robot arm subassemblies that are movably mounted relative to each other and / or relative to the robot base. The robot arm subassemblies are preferably configured as a so-called central hand, a so-called arm, a so-called rocker arm, and a so-called carousel of the robot arm, which preferably have a function and / or arrangement relative to each other and / or to the robot base that is already known to a person skilled in the art. Preferably, the robot flange is arranged on the robot arm subassembly configured as the central hand. The robot flange is preferably rotatably / pivotably mounted on the robot arm subassembly configured as the central hand about at least one axis of movement, preferably about at least two axes of movement, in particular axes of movement extending transversely to each other.The robot arm assembly designed as a central hand is preferably rotatably / pivotably mounted on the robot arm assembly designed as an arm of the robot arm about at least one axis of movement. The robot arm assembly designed as an arm is preferably arranged between the robot arm assembly designed as a central hand and the robot arm assembly designed as a rocker arm of the robot arm. The robot arm assembly designed as an arm is preferably rotatably / pivotably mounted on the robot arm assembly designed as a rocker arm about at least one axis of movement. The robot arm assembly designed as a rocker arm is preferably rotatably / pivotably mounted on the robot arm assembly designed as a carousel of the robot arm. In particular, the robot arm assembly designed as a carousel is arranged between the robot arm assembly designed as a rocker arm and the robot base.The robot arm assembly, designed as a carousel, is preferably rotatably mounted on the robot base about at least one axis of motion, in particular to enable a rotational movement of the robot arm relative to the ground and / or relative to the robot base in a manner already known to those skilled in the art. The axis of motion of the carousel-designed robot arm assembly preferably extends at least substantially perpendicular to the ground and / or to a horizontal plane. The term "substantially perpendicular" is intended to define, in particular, an orientation of a direction relative to a reference direction, wherein the direction and the reference direction, especially when viewed in a projection plane, enclose an angle of 90° and the angle has a maximum deviation of, in particular, less than 8°, advantageously less than 5°, and most advantageously less than 2°.
[0013] The robot base is preferably arranged on the motion and / or bearing unit, wherein the robot base is movable relative to the substrate by means of the motion and / or bearing unit, in particular in addition to a rotational movement of the robot base relative to the motion and / or bearing unit, which is preferably achievable in at least one embodiment of the handling robot according to the invention. The substrate can be a cleanroom floor, a production floor, a support plate, a frame plate, a planar tile of an electrodynamic planar transport system, a stator of an electrodynamic linear transport system, or the like.The motion and / or bearing unit can be designed, for example, as a linear guide rail unit with straight and / or curved track sections, as an electrodynamic planar transport system, the design and function of which is already known to a person skilled in the art, for example, through a product series sold under the name "X Planar" by Beckhoff Automation GmbH & Co. KG, as an electrodynamic linear transport system, the design and function of which is already known to a person skilled in the art, for example, through a product series sold under the name "XTS" by Beckhoff Automation GmbH & Co. KG, as an Automated Guided Vehicle unit (AG V unit), as a rotary bearing unit, or as another unit that appears sensible to a person skilled in the art.In an embodiment of the motion and / or bearing unit as a linear guide rail unit, the robot base is, for example, arranged on a guide carriage of the linear guide rail unit, wherein the guide carriage is movably mounted on at least one guide rail of the linear guide rail unit. In an embodiment of the motion and / or bearing unit as a linear guide rail unit, it is also conceivable that the robot base is rotatably mounted on the guide carriage, in particular to realize a rotational movement relative to the guide carriage, preferably in addition to movement along the guide rail by means of the guide carriage.If the motion and / or bearing unit is designed as a linear guide rail unit, the robot base can be moved manually by an operator by means of a drive of the motion and / or bearing unit, which is intended to move the guide carriage relative to the guide rail, by moving the guide carriage along the guide rail and / or by means of a force exerted by the robot arm, which, for example, pushes against the substrate or the like via the end effector or pulls itself along the guide rail by means of the end effector or the like.In an embodiment of the motion and / or bearing unit as an electrodynamic planar transport system, the robot base is, for example, arranged on a planar armover of the electrodynamic planar transport system, wherein the planar armover is movable relative to at least one planar tile of the electrodynamic planar transport system, in particular floating relative to the planar tile, as a result of an alternating magnetic field. The planar armover preferably has six degrees of freedom in a manner known to those skilled in the art. In an embodiment of the motion and / or bearing unit as an electrodynamic linear transport system, the robot base is, for example, arranged on a linear mover of the electrodynamic linear transport system, wherein the linear mover is movable relative to at least one stator track of the electrodynamic linear transport system, in particular floating relative to the stator track, as a result of an alternating magnetic field.In an embodiment of the motion and / or bearing unit as an electrodynamic linear transport system, it is also conceivable that the robot base is rotatably mounted on the linear mover, particularly to realize a rotary movement relative to the linear mover, preferably in addition to movement along the stator track by means of the linear mover. In an embodiment of the motion and / or bearing unit as an automated-guided vehicle (AGV) unit, the robot base is, for example, arranged on an AGV of the AGV unit, wherein the AGV is independently movable on the surface, in particular on the cleanroom floor or on the production floor, in a manner already known to those skilled in the art.In an embodiment of the motion and / or bearing unit as an automated guided vehicle (AGV) unit, it is also conceivable that the robot base is rotatably mounted on the AGV, particularly to enable rotational movement relative to the AGV, preferably in addition to movement on the ground by means of the AGV. In an embodiment of the motion and / or bearing unit as, in particular, a pure rotational bearing unit, the robot base is, for example, arranged on a rotational bearing element, wherein the rotational bearing element is rotatably mounted relative to the ground, such as on a frame, directly on the ground, or the like.In a configuration of the motion and / or bearing unit as, in particular, a pure rotary bearing unit, the robot base can be rotated manually by an operator by means of a drive of the motion and / or bearing unit, which is provided for a rotation of the rotary bearing element relative to the ground, by rotating the rotary bearing element relative to the ground and / or by means of a force exerted by the robot arm, which, for example, pushes against the ground via the end effector or the robot flange or exerts a pulling force through an interaction of the end effector and elements located within a reach of the robot arm or the like.Preferably, the motion and / or bearing unit, particularly regardless of the above-mentioned possible configurations of the motion and / or bearing unit, comprises at least one sensor element for detecting a position of the robot base relative to a surface, for example to detect an end position of the robot base or the like.
[0014] Preferably, the support plate forms a separation between a sterile area and a gray area in the cleanroom environment. The drive for the motion and / or bearing unit is preferably arranged on the underside of the support plate. In particular, at least one drive element, especially a drive shaft, of the drive for the motion and / or bearing unit extends through the support plate, preferably to achieve a rotary movement of the motion and / or bearing element, which is designed as a pivot arm, relative to the support plate. The drive for the motion and / or bearing unit is preferably designed as an electric motor, especially a servo motor. However, it is also conceivable that the drive for the motion and / or bearing unit has a different design that would appear advantageous to a person skilled in the art, such as a hydraulic or pneumatic drive, or the like.
[0015] Furthermore, it is proposed that the motion and / or bearing unit comprises at least one motion and / or bearing element by means of which the robot base is freely mounted in space, translationally and / or rotationally relative to the surface. The motion and / or bearing element can be designed, particularly depending on a specific configuration of the motion and / or bearing unit (preferably one mentioned previously), for example as a guide carriage, a planar mover, a linear mover, an automated guided vehicle, a rotary bearing element, a swivel arm, or any other element that would appear useful to a person skilled in the art.When the motion and / or bearing element is configured as a guide carriage, the robot base can be moved, at least translationally, relative to the surface. With an additional rotatable mounting of the robot base on the guide carriage, rotational movement of the robot base relative to the surface is also possible. In particular, when the motion and / or bearing element is configured as a planar mover, the robot base can be moved freely in space due to the planar mover's six degrees of freedom. When the motion and / or bearing element is configured as a linear mover, the robot base can be moved, at least translationally, relative to the surface. With an additional rotatable mounting of the robot base on the linear mover, rotational movement of the robot base relative to the surface is also possible.Preferably, in an embodiment of the motion and / or bearing element as an Automated Guided Vehicle (AGV), the robot base can be freely movable in a plane extending at least substantially parallel to the ground relative to the ground. Furthermore, with an additional rotatable mounting of the robot base on the AGV, rotational movement of the robot base relative to the AGV is also possible. "Substantially parallel" is understood to mean, in particular, an alignment of a direction relative to a reference direction, especially in a plane, wherein the direction has a deviation from the reference direction of, in particular, less than 8°, advantageously less than 5°, and most advantageously less than 2°.Preferably, the robot base, when configured as a rotary bearing element or a swivel arm, can be rotatably movable relative to the surface. Using the inventive design of the handling robot, an additional degree of freedom for the handling robot can be easily implemented in addition to the existing degrees of freedom of the robot arm, particularly to minimize the impact on laminar airflow. A large operating radius of the handling robot can be advantageously achieved. Furthermore, the ability to move the robot base relative to the surface allows a single handling robot according to the invention to be assigned to several processing stations in the cleanroom environment, thus advantageously reducing the number of handling robots required in the cleanroom.Furthermore, the ability to move the robot base relative to the surface allows for the advantageous realization of a suitable robot arm pose for the intended application. This pose can be chosen to allow for a smaller extension of the robot arm, enabling it to handle heavy loads, for example, since static moments in joints are lower at smaller extensions. Easy accessibility is also advantageous, as the robot can be moved to a maintenance position for easy repair, assembly, or disassembly, or moved out of an access area to provide an operator with easy access to a workstation in a cleanroom environment.
[0016] Furthermore, it is proposed that the motion and / or bearing unit comprises at least one motion and / or bearing element, preferably the aforementioned one, which is designed in particular as a pivot arm and has a motion axis, particularly a rotation axis, which is oriented vertically, and on which the robot base is arranged eccentrically to the motion axis. The motion and / or bearing element designed as a pivot arm preferably includes a bearing point on at least one side or at at least one end, by means of which the motion and / or bearing element designed as a pivot arm is rotatably mounted on the substrate. In particular, in one embodiment of the motion and / or bearing unit with the motion and / or bearing element designed as a pivot arm, a surface of a support plate of the motion and / or bearing unit forms the substrate, at least relative to which the robot base is movable.The axis of movement of the motion and / or bearing element designed as a pivot arm is preferably defined by the bearing point. Preferably, the axis of movement of the motion and / or bearing element designed as a pivot arm runs at least substantially parallel to the axis of movement of the robot arm assembly designed as a carousel. In particular, the axis of movement of the motion and / or bearing element designed as a pivot arm preferably runs at least substantially perpendicular to the surface and / or the horizontal plane. Preferably, the motion and / or bearing element designed as a pivot arm has a receiving interface on a side or end facing away from the bearing point, at which the robot base is arranged, and in particular attached, to the motion and / or bearing element designed as a pivot arm. Preferably, the robot base is rotationally fixed to the receiving interface.The receiving interface, particularly when viewed along a direction extending at least substantially perpendicular to the axis of movement of the pivoting arm-designed movement and / or bearing element, preferably has a minimum distance to the axis of movement of the pivoting arm-designed movement and / or bearing element, which is particularly greater than 100 mm, more preferably greater than 250 mm, more preferably greater than 500 mm, and most preferably less than 2,000 mm. By means of the inventive design of the handling robot, a large operating radius of the handling robot can be easily achieved.Furthermore, the ability to move the robot base relative to the surface allows a single handling robot according to the invention to be advantageously assigned to several processing stations in the cleanroom environment, thus reducing the number of handling robots required. A small size of the handling robot can also be advantageously used for handling objects at processing stations in the cleanroom environment, since the ability to move the robot base relative to the surface advantageously creates an additional degree of freedom of movement. Optimized poses of the handling robot can be advantageously implemented for the specific application, such as in pharmaceutical, sterile, and / or aseptic filling systems, etc., which minimize the impact of a unidirectional airflow.It can be advantageous to provide easy accessibility, as the handling robot can, for example, be moved to a maintenance position by the ability to move the robot base relative to the ground, so that it can be easily repaired, assembled or disassembled, or moved out of an access area to allow an operator easy access to a processing station in the cleanroom environment.
[0017] Furthermore, it is proposed that the handling robot comprise at least one sealing unit, which includes at least one sealing element, in particular a shaft seal, arranged between a motion and / or bearing element of the motion and / or bearing unit, preferably designed as a pivot arm, and a drive element of the motion and / or bearing unit, particularly the drive element of the motion and / or bearing unit, in particular to encapsulate the drive from the cleanroom environment. Preferably, the sealing element, in particular the shaft seal, is arranged on the drive element, in particular the drive shaft, of the drive element of the motion and / or bearing unit. It is conceivable that the sealing unit comprises further sealing elements, which would appear useful to a person skilled in the art, and which are arranged at other positions of the motion and / or bearing unit, such as on the support plate or the like., in particular to achieve encapsulation of the drive from the cleanroom environment, preferably to enable reliable separation of the sterile area and the gray area of the cleanroom environment. Using the inventive design of the handling robot, encapsulation of the drive and / or energy supply can be advantageously achieved in a simple manner, while also advantageously enabling a large operating radius of the handling robot. Furthermore, good cleaning capability can be advantageously achieved through simple sealing using the sealing unit.
[0018] Furthermore, the invention relates to a method for handling objects in a cleanroom environment using a handling robot, in particular a handling robot according to the invention. It is proposed that in at least one method step, a robot base of the handling robot, in particular the one already mentioned, is moved relative to a surface, in particular a support plate, by means of a drive of a motion and / or bearing unit of the handling robot, in particular the one already mentioned, in particular relative to a support plate, wherein the drive is arranged on a side, in particular the underside, of a support element of the motion and / or bearing unit, in particular the one already mentioned, which faces away from a motion and / or bearing element of the motion and / or bearing unit to which the robot base is attached.In a configuration of the motion and / or bearing unit as a linear guide rail unit, the robot base is moved relative to the substrate by means of the guide carriage of the linear guide rail unit, which is movably mounted on the guide rail. In a configuration of the motion and / or bearing unit as an electrodynamic planar transport system, the robot base is moved towards the planar tile of the electrodynamic planar transport system by means of the planar mover of the electrodynamic planar transport system. In a configuration of the motion and / or bearing unit as an electrodynamic linear transport system, the robot base is moved relative to the stator track of the electrodynamic linear transport system by means of the linear mover of the electrodynamic linear transport system.In an embodiment of the motion and / or bearing unit as an automated guided vehicle (AGV) unit, the robot base is moved relative to the surface by means of the AGV unit. In an embodiment of the motion and / or bearing unit as, in particular, a pure rotary bearing unit, the robot base is moved relative to the support plate by means of the motion and / or bearing element designed as a swivel arm. The embodiment according to the invention advantageously allows for a large operating radius of the handling robot. Furthermore, the ability to move the robot base relative to the surface advantageously enables a single handling robot according to the invention to be assigned to several processing stations in the cleanroom environment, thus advantageously reducing the number of handling robots required in the cleanroom environment.Furthermore, the ability to move the robot base relative to the surface allows for the advantageous realization of a suitable robot arm pose for the intended application. This pose can be advantageously chosen to allow for a smaller extension of the robot arm, enabling it to handle heavy loads, for example, since static moments in joints are low at smaller extensions. A smaller size of the handling robot can also be advantageous for handling objects at processing stations in cleanroom environments, as the ability to move the robot base relative to the surface provides an additional degree of freedom. This is advantageous for applications such as pharmaceutical, sterile, and / or aseptic filling plants, etc.Optimized poses of the handling robot can be implemented, minimizing the impact of a unidirectional airflow. This also allows for easy accessibility, as the robot's base can be moved relative to the floor, enabling it to be moved to a maintenance position for easy repair, assembly, or disassembly, or moved out of an access area to provide an operator with easy access to a workstation within the cleanroom environment.
[0019] Furthermore, it is proposed that, particularly in an embodiment of the method that depends on the design of the motion and / or bearing unit, in at least one process step the robot base is moved freely in space, translationally and / or rotationally relative to the substrate, by means of a motion and / or bearing element of the motion and / or bearing unit, in particular the one already mentioned. Using the embodiment according to the invention, an additional degree of freedom for the handling robot can be easily implemented in addition to the existing degrees of freedom of the robot arm, particularly to minimize the impact on a laminar airflow. A large operating radius of the handling robot can advantageously be achieved.Furthermore, the ability to move the robot base relative to the surface advantageously allows a single handling robot according to the invention to be assigned to several processing stations in the cleanroom environment, thus advantageously reducing the number of handling robots required in the cleanroom environment. Additionally, the ability to move the robot base relative to the surface advantageously allows for a suitable pose of the robot arm for the intended application, which can be advantageously selected to allow for a smaller extension of the robot arm. This enables the robot to handle, for example, large loads, since static moments in joints are low at smaller extensions.It can be advantageous to provide easy accessibility, as the handling robot can, for example, be moved to a maintenance position by the ability to move the robot base relative to the ground, so that it can be easily repaired, assembled or disassembled, or moved out of an access area to allow an operator easy access to a processing station in the cleanroom environment.
[0020] Furthermore, it is proposed that in at least one process step, particularly in an embodiment of the motion and / or bearing unit with the motion and / or bearing element designed as a swivel arm, the robot base is pivoted eccentrically about an axis of motion of a motion and / or bearing element of the motion and / or bearing unit, particularly the one already mentioned. By means of the embodiment according to the invention, a large working radius of the handling robot can be achieved in a simple manner. Moreover, the ability to move the robot base relative to the surface advantageously allows a single handling robot according to the invention to be assigned to several processing stations in the cleanroom environment, thus enabling a smaller number of handling robots to be required in the cleanroom environment.A small handling robot can also be advantageously used for handling objects at processing stations in cleanroom environments, as the ability to move the robot base relative to the surface allows for an additional degree of freedom of movement. Optimized poses of the handling robot can be implemented to suit specific applications, such as pharmaceutical, sterile, and / or aseptic filling systems, and minimize the impact of a unidirectional airflow.It can be advantageous to provide easy accessibility, as the handling robot can, for example, be moved to a maintenance position by the ability to move the robot base relative to the ground, so that it can be easily repaired, assembled or disassembled, or moved out of an access area to allow an operator easy access to a processing station in the cleanroom environment.
[0021] Furthermore, it is proposed that the robot base be pivoted by more than 45°, in particular by more than 90°, about the axis of movement, especially starting from an alignment of the movement and / or bearing element designed as a pivot arm relative to a longitudinal axis of a processing station. The robot base is pivoted by 180° about the axis of movement to achieve a parking position of the handling robot, especially starting from the alignment of the movement and / or bearing element designed as a pivot arm relative to the longitudinal axis of the processing station. Using the embodiment according to the invention, optimized poses of the handling robot can be advantageously realized for the application area, such as in pharmaceutical, sterile and / or aseptic filling systems or the like, which allow for minimal influence from a unidirectional airflow.It is advantageous to ensure easy accessibility, as the handling robot can, for example, be moved to a maintenance position by allowing its base to be moved relative to the surface. This facilitates easy repair, assembly, or disassembly, or allows it to be moved out of an access area to provide an operator with easy access to a workstation in the cleanroom environment. A large operating radius for the handling robot can also be advantageously achieved.
[0022] Furthermore, a cleanroom system with at least one handling robot according to the invention is proposed. The cleanroom system can include further devices and / or units that a person skilled in the art would consider useful for handling objects in a cleanroom environment. The cleanroom system is preferably designed for handling pharmaceutical products or foodstuffs. In addition to the handling robot, the cleanroom system can have a variety of further devices and / or units that a person skilled in the art would consider useful, such as a transport device, a sterilization device, a product feeding device, a filling device, a closure device, a repackaging device, or the like. The design according to the invention advantageously allows for a large operating radius of the handling robot within the cleanroom environment.Furthermore, the ability to move the robot base relative to the surface advantageously allows a single handling robot according to the invention to be assigned to several processing stations in the cleanroom environment, thus advantageously reducing the number of handling robots required in the cleanroom environment. Additionally, the ability to move the robot base relative to the surface advantageously allows for a suitable pose of the robot arm for the intended application, which can be advantageously selected to allow for a smaller extension of the robot arm. This enables the robot to handle, for example, large loads, since static moments in joints are low at smaller extensions.A small-scale handling robot can also be advantageous for handling objects at processing stations in cleanroom environments, as the ability to move the robot base relative to the surface provides an additional degree of freedom. Optimized poses of the handling robot can be implemented to suit specific applications, such as pharmaceutical, sterile, and / or aseptic filling systems, minimizing the impact of unidirectional airflow.It can be advantageous to provide easy accessibility, as the handling robot can, for example, be moved to a maintenance position by the ability to move the robot base relative to the ground, so that it can be easily repaired, assembled or disassembled, or moved out of an access area to allow an operator easy access to a processing station in the cleanroom environment.Due to the connection between the robot arm and the robot base, it can be structurally simple to approach a zero position for programming movement sequences of the robot arm, since, for example, a mechanical stop can be provided on the robot base, which can be used to easily find a zero position of the robot arm relative to the robot base, and / or a mechanical stop can be provided on the movement and / or bearing unit, which can be used to easily find a zero position of the robot base relative to the surface.
[0023] The handling robot, the method, the cleanroom system, and / or the use according to the invention should preferably not be limited to the application and embodiment described above. In particular, the handling robot, the method, the cleanroom system, and / or the use according to the invention may, to achieve a functionality described herein, comprise a different number of individual elements, components, units, and / or process steps than the number specified herein.
[0024] Drawings
[0025] Further advantages will become apparent from the following description of the drawings. The drawings illustrate an embodiment of the invention. The drawings, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations.
[0026] They show:
[0027] Fig. 1 A part of a cleanroom system according to the invention with at least one handling robot according to the invention, which is arranged in a position for handling objects, in a schematic representation, Fig. 2 the handling robot according to the invention in a further position for handling objects in a schematic representation,
[0028] Fig. 3 shows the handling robot according to the invention in a schematic representation in a parking and / or maintenance position and
[0029] Fig. 4 shows a schematic flowchart of a method according to the invention for handling objects in a cleanroom environment using a handling robot.
[0030] Description of the exemplary embodiment
[0031] Figure 1 shows a cleanroom system 48 with at least one handling robot 10. The handling robot 10 is preferably intended for use in a cleanroom environment 12, in particular in a pharmaceutical production plant or in a sterile and / or aseptic filling plant. The cleanroom system 48 is preferably configured as a pharmaceutical production plant or as a sterile and / or aseptic filling plant, or is at least a part of the aforementioned production plant or filling plant. The cleanroom system 48 is preferably intended for handling pharmaceutical products or foodstuffs. However, it is also conceivable that the cleanroom system 48 is intended for handling other objects 44 that would appear useful to a person skilled in the art.The cleanroom system 48 may, in addition to a handling robot 10, include further devices and / or units that appear useful to a person skilled in the art, which are used for the manufacture, packaging, and / or filling of articles 44, such as a transport device, a sterilization device 50, a product feeding device, a filling device, a closure device, a repackaging device, a filter device, or the like. Preferably, the cleanroom system 48, in particular in addition to the handling robot 10, includes at least the sterilization device 50 for sterilizing articles 44. The handling robot 10 is preferably designed for loading or unloading the sterilization device 50 with articles 44.However, it is also conceivable that the handling robot 10 is intended for loading or unloading other devices and / or units of the cleanroom system 48 that would appear useful to a person skilled in the art, such as a test device or the like of the cleanroom system 48.
[0032] The handling robot 10 is preferably designed as an articulated robot. Preferably, the handling robot 10 is designed as a collaborative articulated robot. The handling robot 10 for cleanroom environments 12 comprises at least one, in particular multi-axis, robot arm 14, at least one robot flange 16, which is arranged at at least one end 18 of the robot arm 14 and is provided for a detachable connection with at least one end effector 20, and at least one robot base 22 on which the robot arm 14 is arranged, in particular movably mounted. The handling robot 10 preferably comprises, in a manner already known to those skilled in the art, a plurality of drives (not shown in detail here), in particular servo motors or the like, for controlled or regulated movement of the robot arm 14 and / or the robot flange 16 relative to each other and / or relative to the robot base 22.The handling robot 10 preferably comprises at least one end effector 20 for handling objects 44. Preferably, the end effector 20 is interchangeably connectable to the robot flange 16 via a connection interface (not shown in detail here) in a manner known to those skilled in the art. The end effector 20 is preferably, in a state arranged on the robot flange 16, supplied with energy for operation in a manner known to those skilled in the art and connected to a computing unit (not shown in detail here) of the handling robot 10 for data transmission.
[0033] The robot arm 14 preferably comprises a plurality of robot arm subassemblies that are movably mounted relative to each other and / or relative to the robot base 22. The robot arm subassemblies are preferably configured as a central hand 52, an arm 54, a rocker arm 56, and a carousel 58 of the robot arm 14, which preferably have a function and / or arrangement relative to each other and / or to the robot base 22 that is already known to a person skilled in the art. Preferably, the robot flange 16 is arranged on the robot arm subassembly configured as the central hand 52 of the robot arm 14. The robot flange 16 is preferably rotatably / pivotably mounted on the robot arm subassembly configured as the central hand 52 about at least one axis of motion 60, 62, and preferably about at least two axes of motion 60, 62, in particular axes of motion extending transversely to each other.The robot arm assembly designed as a central hand 52 is preferably rotatably / pivotably mounted on the robot arm assembly designed as arm 54 of the robot arm 14 about at least one axis of motion 64. The robot arm assembly designed as arm 54 is preferably arranged between the robot arm assembly designed as a central hand 52 and the robot arm assembly designed as a rocker arm 56 of the robot arm 14. The robot arm assembly designed as arm 54 is preferably rotatably / pivotably mounted on the robot arm assembly designed as a rocker arm 56 about at least one axis of motion 66. The robot arm assembly designed as a rocker arm 56 is preferably rotatably / pivotably mounted on the robot arm assembly designed as a carousel 58 of the robot arm 14 about at least one axis of motion 68.In particular, the robot arm assembly designed as a carousel 58 is arranged between the robot arm assembly designed as a rocker arm 56 and the robot base 22. The robot arm assembly designed as a carousel 58 is preferably rotatably mounted on the robot base 22 about at least one axis of movement 70, in particular to enable a rotational movement of the robot arm 14 relative to a surface 26 and / or relative to the robot base 22 in a manner already known to a person skilled in the art. The axis of movement 70 of the robot arm assembly designed as a carousel 58 preferably extends at least substantially perpendicular to the surface 26 and / or to a horizontal plane 72.
[0034] The handling robot 10 further comprises at least one motion and / or bearing unit 24, on which the robot base 22 is arranged and which is designed to move at least the robot base 22 relative to the surface 26. In at least one embodiment not shown in detail in the figures, the robot base 22 is movably mounted on the motion and / or bearing unit 24. The robot base 22 is preferably arranged on the motion and / or bearing unit 24, wherein the robot base 22 is movable relative to the surface 26 by means of the motion and / or bearing unit 24, in particular in addition to a rotational movement of the robot base 22 relative to the motion and / or bearing unit 24, which is preferably achievable in at least one embodiment of the handling robot 10.
[0035] In an embodiment of the motion and / or bearing unit 24, as exemplified in Figures 1 to 3, particularly as a pure rotational and / or pivot bearing unit, the robot base 22 is preferably arranged on a motion and / or bearing element 28 of the motion and / or bearing unit 24, wherein the motion and / or bearing element 28 is rotatably and / or pivotably mounted relative to the base 26, for example on a frame, directly on the base 26 or the like. The motion and / or bearing unit 24 preferably has at least the motion and / or bearing element 28 by means of which the robot base 22 is rotatably mounted relative to the base 26 in the embodiment of the motion and / or bearing unit 24 shown exemplified in Figures 1 to 3.The motion and / or bearing unit 24 preferably comprises at least the motion and / or bearing element 28, which is designed in particular as a pivot arm and has a motion axis 30, in particular a rotation axis, which is oriented in particular vertically, and on which the robot base 22 is arranged eccentrically to the motion axis 30. The motion and / or bearing element 28, designed as a pivot arm, preferably comprises a bearing point 74 on at least one side or at at least one end, by means of which the motion and / or bearing element 28, designed as a pivot arm, is rotatably mounted on the base 26. In particular, a surface of a support element 32 of the motion and / or bearing unit 24, designed as a support plate, forms the base 26, at least relative to which the robot base 22 is movable.Preferably, the axis of movement 30 of the motion and / or bearing element 28, designed as a pivot arm, runs at least substantially parallel to the axis of movement 70 of the robot arm assembly designed as a carousel 58. In particular, the axis of movement 30 of the motion and / or bearing element 28, designed as a pivot arm, preferably runs at least substantially perpendicular to the base 26 and / or to the horizontal plane 72. Preferably, the motion and / or bearing element 28, designed as a pivot arm, has a receiving interface 76 on a further side or end facing away from the bearing point 74, at which the robot base 22 is arranged, and in particular attached, to the motion and / or bearing element 28, designed as a pivot arm. Preferably, the robot base 22 is rotationally fixed to the receiving interface 76.The receiving interface 76 is arranged at a distance from the bearing point 74, particularly when viewed along a direction that runs at least substantially perpendicular to the axis of movement 30 of the movement and / or bearing element 28 designed as a swivel arm.
[0036] The motion and / or bearing unit 24 preferably comprises at least the support element 32, which is in particular designed as a support plate, at least the motion and / or bearing element 28, which is in particular designed as a pivot arm, to which the robot base 22 is attached and which is movably, in particular rotatably, mounted on the support element 32, and at least one drive 34, wherein the motion and / or bearing element 28 is arranged on a side 36 facing away from the drive 34, in particular on a top side, of the support element 32. Preferably, the support element 32, which is in particular designed as a support plate, forms a separation between a sterile area and a gray area in the cleanroom environment 12. The drive 34 of the motion and / or bearing unit 24 is preferably arranged on a bottom side of the support element 32, which is in particular designed as a support plate.In particular, at least one drive element (not shown in detail here), especially a drive shaft, of the drive 34 of the motion and / or bearing unit 24 extends through the support element 32, which is designed in particular as a support plate, preferably to realize a rotary movement of the motion and / or bearing element 28, which is designed as a pivot arm, relative to the support element 32, which is designed in particular as a support plate. The drive 34 of the motion and / or bearing unit 24 is preferably designed as an electric motor, in particular as a servo motor. However, it is also conceivable that the drive 34 of the motion and / or bearing unit 24 has a different design that would appear useful to a person skilled in the art, such as a hydraulic or pneumatic drive or the like.
[0037] Furthermore, the handling robot 10 preferably comprises at least one sealing unit 38, which has at least one sealing element 40 (shown in dashed lines in Figures 1 to 3), in particular a shaft seal, which is arranged between the motion and / or bearing element 28 of the motion and / or bearing unit 24, which is designed in particular as a pivot arm, and the drive 34 of the motion and / or bearing unit 24, in particular to encapsulate the drive 34 from the cleanroom environment 12. Preferably, the sealing element 40, in particular the shaft seal, is arranged on the drive element, in particular the drive shaft, of the drive 34 of the motion and / or bearing unit 24.It is conceivable that the sealing unit 38 comprises further sealing elements that appear useful to a person skilled in the art, which are arranged at further positions of the movement and / or bearing unit 24, such as on the support element 32 or the like, which is designed in particular as a support plate, in particular to realize an encapsulation of the drive 34 from the cleanroom environment 12, preferably to enable a reliable separation of the sterile area and the grey area of the cleanroom environment 12.
[0038] Figures 1 to 3 show, by way of example, various positions of the handling robot 10 relative to the base 26 and / or relative to the sterilization device 50 in the cleanroom environment 12, which the handling robot 10 can assume by means of the motion and / or bearing unit 24. Figure 1 shows, by way of example, a position in which a longitudinal axis of the motion and / or bearing element 28, which is designed in particular as a pivot arm, is aligned at least substantially parallel or coaxial to a longitudinal axis of the sterilization device 50, wherein the robot base 22 is oriented towards the sterilization device 50 by means of the motion and / or bearing element 28, which is designed in particular as a pivot arm.Figure 2 shows, by way of example, another position in which the handling robot 10, in particular the robot base 22, has a greater distance relative to the sterilization device 50 than the position of the handling robot 10 shown in Figure 1, in particular as a result of rotating the movement and / or bearing element 28, which is designed in particular as a pivot arm, by an angle of 90° about the axis of movement 30 of the movement and / or bearing element 28, in particular such that the longitudinal axis of the movement and / or bearing element 28, which is designed in particular as a pivot arm, is oriented transversely, preferably at least substantially perpendicularly, to the longitudinal axis of the sterilization device 50. In Figure 2, the handling robot 10 is oriented such that little or no influence on the first-air principle is achieved.Figure 3 shows an additional position, in particular a parking and / or maintenance position, in which the handling robot 10, in particular the robot base 22, is moved from the further orientation shown in Figure 2 by rotating the movement and / or bearing element 28, in particular designed as a swivel arm, by a further angle of 90° about the axis of movement 30 of the movement and / or bearing element 28, in particular such that the longitudinal axis of the movement and / or bearing element 28, in particular designed as a swivel arm, is aligned at least substantially parallel or coaxial to the longitudinal axis of the sterilization device 50, wherein the robot base 22 has a maximum distance relative to the sterilization device 50, in particular to achieve a low or no influence of the first-air principle in the cleanroom environment 12 by the handling robot 10.In the additional position of the handling robot 10 shown in Figure 3, the longitudinal axis of the movement and / or bearing element 28, which is designed in particular as a swivel arm, is aligned at least substantially parallel or coaxial to the longitudinal axis of the sterilization device 50, wherein the robot base 22 is turned away from the sterilization device 50 by means of the movement and / or bearing element 28, which is designed in particular as a swivel arm.
[0039] Figure 4 shows a schematic sequence of a method 42 for handling objects 44 in the cleanroom environment 12 using the handling robot 10. In at least one process step 46 of the method 42, the robot base 22 of the handling robot 10 is moved relative to the surface 26 by means of the motion and / or bearing unit 24 of the handling robot 10 (see also different positions of the handling robot 10 in Figures 1 to 3). Preferably, in at least one, and in particular a further, process step 46, 78 of the method 42, the robot base 22 is moved rotationally relative to the surface 26 by means of the motion and / or bearing element 28 of the motion and / or bearing unit 24 in the exemplary embodiment of the motion and / or bearing element 28 shown in Figures 1 to 3 (see also different positions of the handling robot 10 in Figures 1 to 3).Preferably, in at least one, and in particular in a further, process step 46, 78 of process 42, the robot base 22 is pivoted eccentrically about the axis of movement 30 of the movement and / or bearing element 28 of the movement and / or bearing unit 24 (see also different positions of the handling robot 10 in Figures 1 to 3). Preferably, the robot base 22 is pivoted about the axis of movement 30 by more than 45°, and in particular by more than 90°, in process steps 46, 78 of process 42.Method 42 for handling objects in the cleanroom environment 12 using the handling robot 10 may include further process steps that would appear useful to a person skilled in the art, such as loading the sterilization device 50 with objects 44 using the handling robot 10, removing objects 44 from the sterilization device 50 using the handling robot 10, transferring objects 44 to a transport device using the handling robot 10, or the like. Furthermore, possible process steps that can be derived from the description of Figures 1 to 3 shall also be considered disclosed for method 42.
Claims
- 27 - Claims 1. Handling robot, in particular articulated-arm robot, for a cleanroom environment (12), with at least one, in particular multi-axis, robot arm (14), with at least one robot flange (16) arranged at at least one end (18) of the robot arm (14) and provided for a detachable connection with at least one end effector (20), and with at least one robot base (22) on which the robot arm (14) is arranged, in particular movably mounted, characterized by at least one motion and / or bearing unit (24) on which the robot base (22) is arranged, in particular movably mounted, and which is provided for moving at least the robot base (22) relative to a surface (26), wherein the motion and / or bearing unit (24) comprises at least one support element (32), in particular designed as a support plate, and at least one motion and / or bearing element (28), in particular designed as a swivel arm.to which the robot base (22) is attached and which is movably, in particular rotatably, mounted on the support element (32), and has at least one drive (34), wherein the movement and / or bearing element (28) is arranged on a side (36) of the support element (32) facing away from the drive (34), in particular the top side.
2. Handling robot according to claim 1, characterized in that the movement and / or bearing unit (24) has at least the movement and / or bearing element (28) by means of which the robot base (22) is freely mounted in space, translationally and / or rotationally relative to the substrate (26).
3. Handling robot according to claim 1 or 2, characterized in that the motion and / or bearing unit (24) has at least the motion and / or bearing element (28), in particular designed as a swivel arm, which has a motion axis (30), in particular a rotation axis, in particular a vertically oriented axis, and on which the robot base (22) is arranged eccentrically to the motion axis (30).
4. Handling robot according to one of the preceding claims, characterized by at least one sealing unit (38) which has at least one sealing element (40), in particular a shaft seal, which is arranged between the movement and / or bearing element (28) of the movement and / or bearing unit (24), in particular designed as a pivoting arm, and the drive (34) of the movement and / or bearing unit (24), in particular to realize an encapsulation of the drive (34) from the cleanroom environment (12).
5. Method for handling objects (44) in a cleanroom environment (12) by means of a handling robot, in particular by means of a handling robot according to one of the preceding claims, characterized in that in at least one method step (46) a robot base (22) of the handling robot is moved relative to a surface (26) by means of a drive (34) of a motion and / or bearing unit (24) of the handling robot, wherein the drive (34) is arranged on a side, in particular underside, of a support element (32) of the motion and / or bearing unit (24) facing away from a motion and / or bearing element (28) of the motion and / or bearing unit (24) to which the robot base (22) is attached.
6. Method according to claim 5, characterized in that in at least one method step (46, 78) the robot base (22) is moved freely in space, translationally and / or rotationally relative to the substrate (26) by means of the movement and / or bearing element (28) of the movement and / or bearing unit (24).
7. Method according to claim 5 or 6, characterized in that in at least one method step (46, 78) the robot base (22) is pivoted eccentrically about a movement axis (30) of the movement and / or bearing element (28) of the movement and / or bearing unit (24).
8. Method according to claim 7, characterized in that the robot base (22) is pivoted by more than 45°, in particular by more than 90°, about the axis of movement (30).
9. Cleanroom system with at least one handling robot according to one of claims 1 to 4.
10. Use of a handling robot according to one of claims 1 to 4 in a cleanroom environment, in particular in a pharmaceutical production plant or in a sterile and / or aseptic filling plant.