MECHANICAL HANDLING DEVICE FOR PHARMACEUTICAL CONTAINERS, AND HANDLING SYSTEM

A mechanical handling apparatus for pharmaceutical packaging, for example for pharmaceutical containers for syringes, vials, or carpules, and a handling system with such a handling apparatus. The handling apparatus has two or more segments movable relative to one another on at least one joint device, at least one drive device for moving the two or more segments relative to one another, and a handling tool for handling the packaging. The segments have a start segment that is fixed or fixable on a holding apparatus for the handling apparatus, and an end segment on which the handling tool is held or which includes the handling tool. The handling apparatus has at least one line which is guided through at least two segments of the two or more segments and at least one joint device to the handling tool.

FIELD

The present disclosure relates to a mechanical handling apparatus for pharmaceutical packaging means, for example pharmaceutical containers such as syringes, vials, or carpules, comprising two or more segments which can be moved relative to one another on at least one joint device, at least one drive device for moving the two or more segments relative to one another, and a handling tool for handling the packaging means, wherein the segments comprise a start segment which is fixed or can be fixed on a holding apparatus for the handling apparatus, as well as an end segment on which the handling tool is held or which comprises the handling tool.

Furthermore, the present disclosure relates to a handling system for pharmaceutical packaging means, for example pharmaceutical containers such as syringes, vials, or carpules, comprising at least one handling apparatus of the aforementioned type and a holding apparatus on which the handling apparatus is held.

BACKGROUND

The handling apparatus and the handling system are used in particular in a plant for processing pharmaceutical packaging means. Pharmaceutical packaging means include in particular pharmaceutical containers, for example syringes, vials, or carpules. Containers can also be referred to as “vessels.” Vials may also be referred to as “bottles” or “phials.” In the present case, carriers for individual containers or a plurality of containers can in particular also be regarded as packaging means. For example, carriers referred to as a nest are known for receiving containers arranged in a matrix-like manner. For example, a so-called tray can be regarded as a different type of packaging means in which containers are arranged positioned flat next to one another. In the plant, the pharmaceutical containers are typically filled with a liquid or solid pharmaceutical substance and subsequently closed. The pharmaceutical substance is in particular a medically active substance (agent). The handling apparatus can be used to transfer the packaging means, for example. For example, the containers are transferred from a common carrier (nest or tray) to a transport system. Alternatively or additionally, the containers can be filled with the substance via the handling apparatus. Packaging means such as nests or trays can be transferred, for example, by the handling apparatus.

In the present example, “handling” can occur directly or indirectly. This can be understood in particular as meaning that the packaging means can come into contact with the handling tool or are free of contact with the handling tool.

An object underlying the present disclosure is to provide a handling apparatus and a handling system which have an increased operational reliability.

SUMMARY

In a first aspect of the present disclosure, a mechanical handling apparatus for pharmaceutical packaging means, for example for pharmaceutical containers, is provided. The handling apparatus comprises two or more segments movable relative to one another on at least one joint device, at least one drive device for moving the two or more segments relative to one another, and a handling tool for handling the packaging means. The segments comprise a start segment which is fixed or is configured to be fixed on a holding apparatus for the handling apparatus, as well as an end segment on which the handling tool is held or which comprises the handling tool. The handling apparatus comprises at least one line which is guided through at least two segments of the two or more segments and at least one joint device to the handling tool.

In a second aspect of the present disclosure, a handling system for pharmaceutical packaging means, for example for pharmaceutical containers is provided. The handling system comprises at least one handling apparatus in accordance with the first aspect and a holding apparatus on which the handling apparatus is held. The holding apparatus comprises or forms a separating element and defines a first zone and a second zone which are separated from one another by means of the separating element. The handling tool is arranged in the second zone and the at least one line is guided from the first zone into the second zone through at least one through-opening in the separating element.

DETAILED DESCRIPTION

Although the present disclosure is illustrated and described herein with reference to specific embodiments, the present disclosure is not intended to be limited to the details shown. Rather, various modifications may be made in the details within the scope and range of equivalents and without departing from the present disclosure.

The present disclosure relates to a mechanical handling apparatus for pharmaceutical packaging means, for example pharmaceutical containers such as syringes, vials, or carpules, comprising two or more segments which can be moved relative to one another on at least one joint device, at least one drive device for moving the two or more segments relative to one another, and a handling tool for handling the packaging means, wherein the segments comprise a start segment which is fixed or can be fixed on a holding apparatus for the handling apparatus, as well as an end segment on which the handling tool is held or which comprises the handling tool, wherein the handling apparatus comprises at least one line which is guided through at least two segments of the two or more segments and at least one joint device to the handling tool.

In the handling apparatus in accordance with the present disclosure, at least one line is guided at least in sections through two or more segments and at least one joint device to the handling tool. An intended effect for handling the packaging means with the handling tool can be influenced by the at least one line. For example, the handling tool can be actuated with regard to the task to be accomplished. The feed-through of the at least one line can prove advantageous, for example, in a pharmaceutically compliant environment and in particular an atmosphere of the handling apparatus. When handling pharmaceutical packaging means, the handling apparatus is, for example, at least partially arranged in a protective atmosphere. “Protective atmosphere” in the present case can comprise in particular an atmosphere for decontamination purposes. The protective atmosphere can in particular comprise a flow of H2O2applied to the outside of the handling apparatus. By positioning the at least one line at least partially within the segments, the line is protected from the protective atmosphere, whereby, for example, damage to the line can be avoided. Furthermore, the at least one line within the segments is protected against collision with additional components of the handling system or the plant and/or against unintentional intervention by a user. Overall, the operational safety can be increased by the configuration of the handling apparatus in accordance with the present disclosure.

It can be provided that the handling tool forms the end segment.

It is advantageous if the at least one line is guided through the two or more segments from the start segment to the end segment. In particular, the at least one line can be guided through the entire handling apparatus to the handling tool.

The handling apparatus is characterized, in particular, by a pharmaceutically compliant design, specifically by means of a pharmaceutically compliant seal in the region of at least one joint device between two segments connected to one another in an articulated manner.

In the present case, “pharmaceutically compliant” can in particular be a design of the handling apparatus which meets the requirements for resistance to a protective atmosphere, for resistance to possible toxic substances to be processed, for cleanability, for use in a clean room and/or for at least one other property that allow proper and approved processing of pharmaceutical packaging means. In this case, the handling apparatus is preferably designed to be pharmaceutically compliant at least in a region of the handling system that can be exposed to a protective atmosphere. This region is also referred to below as “second zone.”

A pharmaceutically compliant design can be achieved, for example, by preferably manufacturing components of the handling apparatus from stainless steel, at least on a side that can be exposed to a protective atmosphere. For example, stainless steel of the compositions 1.4435, 1.4404, or 1.4301 is used.

In the present case, the handling apparatus can be regarded as “mechanical” in particular as a result of the presence of the at least one drive device by which two segments are connected to one another in an articulated manner.

In a preferred embodiment of the present disclosure, the at least one joint device is a pivot device, wherein the segments can be pivoted relative to one another about a pivot axis by the drive device. In the present case, the pivot axis is oriented, for example, transversely and in particular perpendicularly to a plane defined by the holding apparatus, for example a plane of a support element. For example, the pivot axis is oriented vertically.

In the present case, “pivoting” can, in particular, also mean “rotating.”

In a preferred embodiment, the handling apparatus advantageously comprises more than two segments, wherein two segments are each movably connected to one another by a respective drive device on a joint device.

It may be provided that two or more joint devices are configured as pivot devices, wherein two or more corresponding pivot axes of the pivot devices are oriented in parallel to one another. Alternatively or additionally, for example, two pivot axes may be oriented transversely and in particular perpendicularly to one another.

In a preferred embodiment of the present disclosure, the handling apparatus comprises, for example, three segments, wherein the start segment can be pivoted relative to a middle segment, which in turn can be pivoted relative to the end segment.

The handling apparatus, in particular in the last-mentioned advantageous embodiment of the present disclosure, is, for example, a Scara robot or comprises or forms a Scara robot. In the present case, a Scara robot is in particular considered to be an articulated arm robot, specifically a horizontal articulated arm robot.

In a preferred embodiment of the present disclosure, the handling tool is a gripping tool comprising at least one gripping element for gripping a pharmaceutical packaging means. For example, the packaging means can be transferred by means of the handling apparatus from a first position to a second position (pick-and-place). It is conceivable, for example, that containers, a nest, or a tray are transferred. Alternatively, containers can be removed, for example, from another packaging means, in particular the tray or the nest, or inserted into the further packaging means. The gripping device can preferably comprise a plurality of gripping elements in order to be able to handle a plurality of packaging means together and/or simultaneously with one another.

In a preferred embodiment of the present disclosure, the handling tool is a filling tool which comprises at least one filling element for filling a substance into a pharmaceutical container.

The at least one filling element is, for example, a needle which can be inserted into an opening of the container, wherein the substance is filled into the container by the needle. The filling device preferably comprises a plurality of filling elements in order to be able to fill a plurality of containers simultaneously.

It is understood that the gripping elements and/or the filling elements are advantageously configured identically.

The at least one line can advantageously comprise, be or form at least one of the following:an electrical line for supplying energy and/or for controlling a drive device of the handling tool. For example, electrical energy is applied to the drive device, and/or control signals are provided for the drive device via the line.a feed line through which a substance for filling into the containers can be fed. For example, the substance is fed to the aforementioned filling element, wherein the feed line is connected, for example, to the filling element.a fluid line for applying negative pressure to the packaging means. For example, the fluid line is arranged on a gripping element so that the packaging means can be held on the gripping element by means of negative pressure provided by the fluid line. Conversely, the application of negative pressure to the fluid line can be terminated and/or the fluid line can be ventilated in order to detach the packaging means from the gripping element.In a different embodiment of the fluid line, the interior of the container can be at least partially evacuated, for example.a fluid line for discharging a fluid from the handling tool. In this way, for example, gas can be discharged from the handling tool, especially with regard to a sterile, pharmaceutically compliant atmosphere.

In the present case, “fluid” can in particular be a gas or a liquid. In the present case, this is also understood to mean a gas mixture or a liquid mixture.

When using a gripping tool, the at least one fluid line can in particular be a pneumatic line which can be subjected to negative pressure to hold the packaging means on the gripping element. When a filling tool is used, the at least one feed line can in particular be designed for feeding a liquid substance.

When a gripping tool is used, it is in particular provided that the gripping tool has a contour that is adapted to a contour of the packaging means. For example, the gripping tool has a recess into which a container can be at least partially inserted in order to be applied to a portion of the gripping tool. In this case, the container is held on the gripping element, for example, by negative pressure, in particular pneumatically. The gripping element abuts, for example, against a jacket of the container.

For handling nests or trays, it can be provided, for example, that the handling tool has a suction body with an edge that can be placed onto an edge of the nest or tray. It may be provided that the gripping tool abuts against the packaging means at one point or linearly or flatly.

The at least one line can be of different designs. In the configuration as a fluid line or feed line, the at least one line is, for example, a hose line. The hose line can, for example, be manufactured from a plastics material, for example a silicone material. In the configuration as an electrical line, the at least one line in particular is or comprises a cable.

The at least one line is preferably configured to be deformable, at least in the portion extending through the segments.

Two or more lines can, for example, extend together at least in sections in a sheath.

It can be provided that the at least one line extends through the two or more segments of the handling apparatus, which line branches into a plurality of individual lines, for example in the handling tool. For example, for applying negative pressure, a fluid line is conceivable that branches into a plurality of portions in the handling tool, wherein each portion is arranged on a gripping element.

When providing filling elements of a filling tool, it may be advantageous if feed lines for feeding the substance are guided separately through the handling apparatus.

It may be provided that the at least one line on the end segment extends completely within the handling tool.

Alternatively, it may be provided that the at least one line exits from the end segment and extends in sections outside the handling tool.

It is advantageous if at least one segment is a hollow shaft or comprises a hollow shaft through which the at least one line is guided. For example, the start segment is or comprises the hollow shaft which, in a preferred embodiment, can be movably fixed to the holding apparatus. For example, the hollow shaft can be rotated and/or translationally displaced relative to the holding apparatus. The hollow shaft can define or comprise an axis of rotation about which the relevant segment can be rotated.

It can be advantageous if at least one segment comprises or forms a housing with a receiving space through which at least one line is guided in the direction of the end segment and in which the at least one drive device is arranged, via which drive device two or more segments are movable relative to one another. The at least one additional line is, for example, an electrical line for supplying energy and/or for controlling the drive device.

In the last-mentioned advantageous embodiment, the handling apparatus preferably comprises at least one additional line which is operatively connected to the at least one drive device. The additional line is preferably guided through the start segment and optionally at least one additional segment to the drive device. The advantages which have already been explained in connection with guiding the at least one line through to the handling tool can also be achieved with the additional line.

The handling apparatus can advantageously comprise a drive device by which at least one segment is translationally movable. Preferably, the start segment is translationally movable, wherein the drive device is arranged on the holding apparatus.

The drive device is provided, for example, for raising and lowering the start segment. In a preferred embodiment, the drive device comprises, for example, a spindle drive.

As already mentioned, the present disclosure further relates to a handling system for pharmaceutical packaging means, for example for pharmaceutical containers.

A handling system in accordance with the present disclosure, which achieves the aforementioned object, comprises at least one handling apparatus of the type described above and a holding apparatus on which the handling apparatus is held, wherein the holding apparatus comprises or forms a separating element and defines a first zone and a second zone which are separated from one another by means of the separating element, wherein the handling tool is arranged in the second zone and the at least one line is guided from the first zone into the second zone through at least one through-opening in the separating element.

The advantages mentioned in connection with the explanation of the handling apparatus in accordance with the present disclosure can also be achieved with the handling system. The separating element separates the first zone from the second zone, wherein the second zone is in particular exposed to a protective atmosphere. The handling apparatus is preferably configured to be pharmaceutically compliant at least in the second zone. The at least one line is guided through the through-opening into the first zone. The zones are preferably separated from one another in a pharmaceutically compliant manner.

Preferably, the start segment extends through the at least one through-opening and is arranged in each case in sections in the first zone and in the second zone. The start element is preferably movably fixed to the separating element by means of a holding element. The holding element is or comprises, for example, a guide on the separating element for guiding a rotational movement and/or a translational movement of the start segment relative to the separating element. At least one bearing element may preferably be effective between the holding element and the start segment. The start segment is preferably fixed in a stationary manner in the first zone.

The holding element can be part of the handling apparatus or part of the holding apparatus.

It has proven advantageous if the holding apparatus forms a substructure for the handling apparatus, wherein the separating element is or forms a support element. The support element is, for example, at least partially plate-shaped and can, for example, be a tabletop or the like. The substructure can be formed, for example, by a frame on which the handling apparatus is fixed.

For example, the first zone is arranged below the separating element, and the second zone is arranged above the separating element.

Position and orientation information such as “below” and “above” refer in the present case to proper use of the handling system. The holding apparatus is positioned in particular on a floor of a laboratory or hall.

In the first zone, at least one drive device is, for example, arranged for rotating and/or for translationally moving the handling apparatus relative to the holding apparatus.

In the first zone, at least one pressure-generating device and/or valve device for providing a positive pressure and/or negative pressure through at least one line is, for example, arranged on the handling tool.

For example, at least one metering device for a substance is arranged in the first zone and can be filled into the containers through at least one line.

For example, at least one electric device for providing an energy supply and/or for controlling at least one drive device of the handling apparatus is arranged in the first zone.

The handling system preferably comprises a covering device which covers from above and/or laterally covers the handling apparatus in the second zone and provides a protective atmosphere in the second zone. The covering device can, for example, be a so-called isolator with which a flow of protective gas, in particular H2O2, can be provided in the second zone, in particular with regard to a pharmaceutically compliant environment.

In a preferred embodiment, the handling system is a gripping system, wherein the handling tool is a gripping tool.

In a preferred embodiment, the handling system can be a filling system, wherein the handling tool is a filling tool.

FIG.1shows a plan view of an advantageous embodiment of a handling system in accordance with the present disclosure, configured as a gripping system, denoted by reference numeral10. The handling system10comprises an advantageous embodiment of a handling apparatus in accordance with the present disclosure, denoted by reference numeral12. The handling apparatus12is mechanical and configured in particular as a Scara robot14. In the present exemplary embodiment, it is in particular a horizontal articulated arm robot.

The handling system10is part of a plant for processing pharmaceutical packaging means15. In the following exemplary embodiment, the packaging means are pharmaceutical containers, for example vials, syringes, and/or carpules. By way of example,FIG.3shows containers16in the form of vials. In the plant, the containers16can, for example, be transferred by means of the handling apparatus12to a transport system, filled, closed, labeled, and subsequently placed in a carrier for removal.

In the handling system10, the Scara robot14is used to remove the containers16from a common carrier18. For this purpose, the containers16are drawn, as explained below, against a handling tool20by means of negative pressure, lifted out of the carrier18and transferred to a transport device22by ending the application of negative pressure to the handling tool20.

The handling system10comprises a holding apparatus24for the handling apparatus12. The holding apparatus24comprises a frame28which is arranged on a floor26of a laboratory or the like and forms a substructure30. The substructure30comprises a separating element32which in the present case forms a plate-shaped support element34. For example, the support element34is a tabletop or the like of the frame28.

The separating element32separates a first zone36of the handling system10and a second zone38from one another. The zones36,38are arranged on opposite sides of the support element34. In this case, the second zone38is defined above and the first zone36is defined below the support element34. Additional components of the handling system10can be placed on the support element34(FIG.1), for example.

The handling system10comprises a covering device40which covers the handling apparatus12in the second zone38and laterally covers, for example, at an edge of the frame28. The covering device40is configured to provide a protective atmosphere in the second zone38. This protective atmosphere can, for example, be or comprise an atmosphere for decontamination purposes. The protective atmosphere comprises in particular a flow42of a protective gas, in the present case H2O2, for flowing around the handling apparatus12in the second zone38.

The covering device40is in particular a so-called isolator, which is shown only schematically inFIG.2.

The handling apparatus12is, at least in the region arranged in the second zone38, designed to be pharmaceutically compliant, specifically for use in the protective atmosphere. In particular, joint devices mentioned below and/or the handling tool20are sealed in a pharmaceutically compliant manner. A pharmaceutically compliant design can also be achieved, for example, by manufacturing components of the handling apparatus12from stainless steel on a side that can be exposed to a protective atmosphere, for example stainless steel of the compositions 1.4435, 1.4404, or 1.4301.

In the following, with reference in particular initially toFIGS.2and3, the nature of the handling apparatus12is discussed, referred to below as a robot14. In addition toFIG.2, reference is made toFIG.7with respect to the internal structure of the robot14.

The robot14comprises a plurality of segments44which are movable relative to one another by means of drive devices on joint devices. The segments44comprise a start segment46, a middle segment48, and an end segment50.

The start segment46extends by a hollow shaft52through a through-opening54in the support element34. In this way, the start segment46projects from the first zone36into the second zone38and is partially arranged in both zones36,38.

The robot14comprises a holding element56which in the present case is fixed on the support element34in the second zone38. The holding element56forms a sleeve which surrounds the hollow shaft52. A bearing element58serves for rotatably and/or displaceably mounting the hollow shaft52relative to the stationary holding element56.

In particular in the region of the through-opening54, there is a pharmaceutically compliant seal between the zones36,38(FIG.2).

A portion60arranged in the first zone38is rotatably fixed on a holding part62. The holding part62is, for example, configured to be flange-like. A drive device64also acts on the holding part62. By means of the drive device64, the hollow shaft52and thus the start segment46can be rotated about an axis of rotation66which is an axis of the hollow shaft52.

In the present case, the axis of rotation66is oriented transversely and in particular perpendicularly to a plane defined by the support element34, in particular vertically.

An electric device68for providing an energy supply and for controlling the drive device64is arranged in the first zone36. Furthermore, a control device70is present in order to control the operation of the robot14and preferably of the handling system10.

The holding part62is held on a drive device72. By means of the drive device72which can be operatively connected to the electric device68, the hollow shaft52and thus the start segment46can be raised and lowered. In this case, the translational movement preferably takes place, in particular in the vertical direction. The drive device72preferably comprises or is configured as a spindle drive74.

A portion76of the start segment46in the second zone38comprises a housing78. The housing78is fixed on the hollow shaft52on the side facing away from the holding part62and forms a receiving space80.

A drive device82is arranged in the receiving space80. The middle segment48can be pivoted relative to the start segment46about a pivot axis84by means of the drive device82. For this purpose, the start segment46and the middle segment48are connected to one another via a joint device86.

The middle segment48forms a housing88which forms a receiving space89. An additional drive device90is arranged in the receiving space89. The drive device90serves to pivot the end segment50relative to the middle segment48about another pivot axis92. For this purpose, the middle segment48and the end segment50are connected to one another via a joint device94.

The axis of rotation66and the pivot axes84,92are oriented in parallel to one another.

As can be seen in particular fromFIGS.3and4, the aforementioned handling tool20is held on the end segment50. The handling tool20comprises at least one gripping element96for holding a container16. In the present case, a plurality of gripping elements96is provided. For example, a respective recess98, which is adapted to the geometry of the container16and into which the container16can be partially inserted, is arranged on the gripping element96.

A fluid line100is used to apply negative pressure to the container16through an opening102in the gripping element96in order to hold the container16in the recess98on the gripping element96. The gripping element96can, for example, abut against a jacket of the container16.

Via a connection element112, the fluid line100is connected to the gripping elements96and branches into individual portions. In this way, the gripping elements96can be subjected to negative pressure through just one fluid line100. Negative pressure up to the opening102can be provided through the respective gripping element96(FIG.4).

In order to provide the negative pressure, a pneumatic pressure-generating device104is arranged in the first zone36. The pressure-generating device104generates in particular a suction air flow through the fluid line100and can preferably be controlled by the control device70.

The fluid line100passes through the robot14from the handling tool20into the first zone36. Thereby the fluid line100extends through the handling tool20, the segments46to50, and feed-throughs106which are respectively formed between the segments48and50or46and48.

If the fluid line100is subjected to negative pressure, the container16is thereby held in the recess98and contacts the gripping element96. If the negative pressure application is not applied or when the fluid line100is ventilated, the container16is detached from the gripping element96.

Another fluid line108extends from the handling tool20through the robot14into the first zone36. The fluid line108serves for discharging ambient air from the second zone38, for example when the fluid line100is released. The fluid line108is provided to maintain a sterile, pharmaceutically compliant environment on the handling tool20.

Like the fluid line108, the fluid line100is configured as a hose line110.

The handling tool20further comprises a drive device114. The drive device114serves to change a distance of adjacent gripping elements96from one another. In so doing, the gripping elements96can be spread relative to one another or brought closer to one another (double arrow116inFIG.3).

An electrical line118extends from the drive device114through the robot14into the first zone36. The electrical line118is in particular an electrical connection cable.

It is provided that, for example, the fluid line100, the fluid line108and/or the electrical line118extend in sections together in a sheath119through the robot14.

Furthermore, the handling apparatus12comprises electrical lines120and122. The lines120,122preferably each comprise a connection cable and are connected to the drive device82or90(FIG.2). Both lines120,122extend through the robot14into the first zone36.

The drive devices82,90, and114are operatively connected, for example, to the electric device68.

Because the lines100,108, and118and the lines120and122are guided through the robot14into the first zone36, they are protected from the atmosphere in the second zone38, in particular from the H2O2protective gas.

Furthermore, the lines100,108,118,120, and122are protected from other components of the handling system10. A collision during the movement of the robot14can thereby be avoided. Additional protection exists against unintentional intervention by a user.

It is in particular advantageous that the lines100,108,118,120, and122extend completely within the robot14.

The following discussesFIGS.5to7which show a preferred embodiment of the handling system in accordance with the present disclosure, which is denoted by reference numeral130, and a preferred embodiment of the handling apparatus in accordance with the present disclosure, which is denoted by reference numeral132. The handling system130is configured as a filling system and comprises the handling apparatus132.

Identical reference numerals are used for identical or identically acting features and components of the systems10,130and apparatuses12,132. The advantages explained above can also be achieved with the handling system130and the handling apparatus132. Only the substantial differences are therefore discussed below.

The handling system130is used for filling the containers16. For example, the containers16(FIG.5) are held on a transport device134. If the containers16pass through the handling apparatus132, they can be filled by it with a substance. In the present case, the substance is a liquid. However, the present disclosure can also be used for filling containers16with, for example, a powdery substance.

The end segment50in the robot14of the handling apparatus132comprises a filling tool which has a holding part136and filling elements138. The filling elements138are configured as needles140which can engage in the respective container16through an opening in the top side. For this purpose, the start segment46can be lowered and raised by means of the drive device72.

The filling elements138are connected to a respective feed line142. The number of feed lines142corresponds to the number of filling elements138. The feed lines142extend through the robot14to the first zone36. In this way, the feed lines142, like the lines described above, are protected against the protective atmosphere and against collision with obstacles. In the present case, the feed lines142extend in sections together in the sheath119.

A metering device144is arranged in the first zone36; the metering device144is shown schematically inFIG.2. It is understood that the metering device144does not need to be provided in the handling system10. The representation serves merely for illustration. The metering device144comprises, for example, a pump device and/or a valve device.

The substance to be filled into the containers16is transported by the metering device144, which is in particular operatively connected to the control device70, through the feed lines142to the needles140and is filled as required into the containers16.

Additional preferred embodiments of the handling apparatus in accordance with the present disclosure are shown inFIGS.8to10and are denoted there by reference numerals150,170, and190. Just as in the embodiment in accordance withFIGS.5to7, only the substantial differences with respect to the handling apparatus12are mentioned.

It is understood that the handling apparatuses150,170, and190can be part of a handling system in accordance with the present disclosure. For identical or identically acting features and components, reference numerals that are already identical to the already introduced reference numerals are used.

In the handling apparatus150in accordance withFIG.8, the handling tool20is a gripping tool for packaging means15, in the present case in the form of containers16which are syringes. The containers16are held on a common carrier152configured as a tray. The carrier152is in turn also a packaging means15.

The handling tool20is a gripping tool with two gripping elements154,156movable relative to one another. Depending on the relative position of the gripping elements154,156, the containers16can be gripped and lifted from the carrier152. For this purpose, the carrier152(not shown) is held in a stationary manner on a holding part, for example.

The handling apparatus150comprises a drive device158. An electrical line160is guided from the handling tool20through the segments44and thus through the robot14into the substructure30and is operatively connected there, for example, to the electric device68.

As a handling tool20, the embodiment170in accordance withFIG.9also comprises a gripping tool for packaging means15. In the present case, the packaging means15are in turn carriers152in the form of trays. Containers16(not shown in the drawing), in particular syringes, can be arranged on the carriers152.

The handling tool20comprises at least one negative pressure gripping element172. In the present case, two gripping elements172are arranged on the end segment50. The gripping elements172are each configured in the shape of a hood and form suction bodies for drawing the carriers152.

The gripping elements172can be subjected to negative pressure via a respective fluid line174which extends through the robot14into the substructure30. For this purpose, the fluid lines174are connected, for example, to the pressure-generating device104.

When negative pressure is applied, a respective edge176of a gripping element172can be placed onto an edge178of a carrier152so that a sufficient seal results for raising the carriers152by means of the handling tool. The carriers152can be set down when the negative pressure is not applied.

With the handling apparatus190in accordance withFIG.10, the handling tool20is also a gripping tool. The handling tool20is used to transfer carriers192, in the present case configured as a so-called nest for a plurality of containers16(not shown in the drawing). The containers16, for example syringes or vials, are received in recesses formed for this purpose in the carrier192.

The handling tool20comprises a frame-shaped holding part194arranged on the end segment. A plurality of gripping elements196, which in the present case are designed in the form of a pin, protrude from the holding part194. A fluid line198is guided through the robot14into the substructure30and is operatively connected there, for example, to a pressure-generating device104. The fluid line198is a negative pressure line for applying negative pressure to the gripping elements196.

For this purpose, the fluid line198, in the present case in the holding part194, branches into respective portions200. A respective portion200leads to the gripping element196.

When the negative pressure is applied, the free end of the gripping element196is subjected to negative pressure. When the handling tool20is placed onto the carrier192, the holding force is sufficient to raise the carrier192in the emptied and/or filled state. Conversely, the carrier192can be set down when the negative pressure is not applied.