Abstract:
The invention proposes an apparatus for transporting a container relative to a filling station, comprising at least one filling station ( 48 ) for filling at least one container ( 36 ), and also comprising at least one container mount ( 38 ) for transporting the container ( 36 ) relative to the filling station ( 48 ), characterized in that at least one drive surface ( 13 ) and at least one mover ( 20 ), which can be coupled in particular magnetically to the drive surface ( 13 ), are provided, wherein the mover ( 20 ) is arranged on the drive surface ( 13 ) such that it can be displaced and/or rotated in at least two degrees of freedom, and in that the container mount ( 38 ) is connected to the mover ( 20 ).

Description:
BACKGROUND OF THE INVENTION 
     The invention proceeds from an apparatus for transporting a container relative to a filling station. 
     WO 2011/138448 already discloses a system for transporting containers between various stations, the containers being received in container carriers. The system includes a control unit which controls the transporting of the container carriers, a transporting surface which is divided into part surfaces and on which the container carriers can be movably arranged, and drive means, the drive means being actuated by means of the control unit and a respective drive means being associated with a respective part surface, a respective drive means being realized for the purpose of acting upon an associated container carrier with a drive force. Said system is distinguished by high degree of flexibility, as is required, in particular, for transporting sample containers of a laboratory analysis system. 
     The object underlying the invention is to optimize a transporting system for a filling station in a further manner. 
     The advantage of an apparatus according to the invention in contrast is that sequential process steps or fixed process steps are no longer necessarily required. By at least one drive surface and at least one mover which is couplable, in particular magnetically, to the drive surface being provided, and the mover being arranged on the drive surface so as to be displaceable in at least two degrees of freedom and/or rotatable and the container receiving means being connected to the mover, the containers can be supplied to and removed from the filling station in a particularly flexible manner. In addition, by means of said drive principle, the particle emissions or the abrasion produced by relative movements of otherwise required rollers, sliding elements or drive means are able to be reduced, as the mover can now be moved contactlessly relative to the drive surface on account of the magnetic coupling. This is advantageous precisely for pharmaceutical filling lines. In addition, the cleanability of the system is improved by just planar surfaces being necessary without the otherwise usual mechanical connections that are difficult to clean between the drive and the moved container transport. In addition, expenditure precisely on set-up or assembly of the processes to the filling station are reduced by the transport not always having to provide the containers at a fixed position. In addition, the service life is increased by reducing the number of wearing parts. In addition, fixed, unchangeable mechanical routes are avoided. Switching functions are no longer place-bound but can be established at arbitrary places inside the drive surface as a result of corresponding programming. The flexible drive concept with superposition of a rotational movement of the mover can have a direct influence on the sloshing behavior of a filled, but not yet closed container, by the mover, in an expedient further development, generating a rotational movement which counters the sloshing of the filled product. Apart from a targeted superposition of the linear movement of the mover with a rotational movement, no further additional mechanical movement means are necessary in order to reduce the sloshing of the filled product. 
     In an expedient further development, it is provided that the mover is rotated about a pivot point by an angle in relation to its rest position, wherein the angle depends in particular on a speed and/or the acceleration of the mover. Consequently, the preferred rotation can be determined in a simple manner by means of the known translatory speed or acceleration development. 
     In an expedient further development, it is provided that an inlet, which includes, in particular, at least one guide wheel and/or one conveying screw, is provided for supplying the containers, wherein the mover moves the container receiving means for taking over the supplied containers at the same speed as the inlet supplies the containers. As a result, the flexible actuation of the movement of the mover can also be applied in a particularly simple manner for receiving in-coming containers without additional mechanical convertors or similar being necessary. The mover is consequently suitable precisely for transporting jobs around the container filling process. 
     In an expedient further development, it is provided that the inlet is arranged relative to the drive surface such that the inlet is in contact for supplying on one side of a container, whilst on another side of the container the container receiving means of the mover can move into contact with the containers for taking over the container supplied from the inlet. As a result, a simple transfer of the supplied containers to the mover can be achieved. In a particularly expedient manner, several movers are arranged next to one another for taking over the container supplied from the inlet. High speeds for supplying the containers can be transferred in a seamless manner to movers that are standing by. Several movers, which are arranged next to one another, are moved in a particularly expedient manner at the same speed for taking over the container supplied from the inlet for this reason. 
     In an expedient further development, it is provided that the container receiving means can receive several containers and/or the container receiving means is oriented longitudinally or transversely with respect to the direction of movement of the mover. As a result, the containers to be filled are able to be processed quickly in rows or lines, which increases the production rates of the apparatus. 
     In an expedient further development, the container receiving means is realized such that at least one container situated in the container receiving means is retained or released by means of a movement, in particular tilting, of the mover. As a result, a functionality of the releasing of a container, as can be necessary for weighing prior to or after the filling process, can be realized in a particularly simple manner just by means of a (rotational) movement without any additional further mechanisms. 
     In an expedient further development, it is provided that at least one process station such as a closing station and/or at least one weighing device and/or at least one inspection device and/or one inlet and/or one outlet is provided and the drive surface is developed such that the mover moves at least the container receiving means between the filling station and the process station. The process sequences can consequently be developed in a flexible manner by other stations being able to be approached in dependence on the state of the container. In particular in the case of unacceptable weighing results, the container can be moved to the filling station again for topping up, which is easily possible in the case of said drive concept on account of a freely-programmable route. 
     In an expedient further development, it is provided that the drive surface is realized as a vertical plane. As a result, relative movements that are typical precisely to the filling process, such as transport beneath the filling needles that are, as a rule, oriented vertically, can be realized in a simple manner. In a particularly preferred manner, the container receiving means is moved during the filling process. The filling needles can consequently be fixedly arranged without impairing the filling operation. The fixed arrangement of the filling needles has the effect of reducing particles as friction from the filling hoses or the like that would otherwise occur no longer occurs where the piping is fixed. 
     In an expedient development, it is provided that several movers, which are movable independently of one another, are provided. As a result, the process sequences can be developed in a flexible manner by other stations being able to be approached depending on the state of the container with high production rates. 
     Additional expedient further developments are produced from further dependent claims and from the description. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Exemplary embodiments of the apparatus according to the invention are shown in the drawing and are described in more detail below, in which: 
         FIG. 1  shows both a passive mover module and an active mover module with a coil package for the power supply, 
         FIG. 2  shows a representation of the system of the apparatus, 
         FIG. 3  shows a perspective representation of a machine design for filling pharmaceutical containers that are connected in nests, 
         FIGS. 4 and 5  show perspective representations of further machine designs for filling in particular pharmaceutical containers, 
         FIGS. 6 a  through 6 i    show the inlet situation with a planar drive in nine different states a to i and 
         FIG. 7  shows movers with filled containers without and with special actuation in order to reduce sloshing of a product that has been filled in the container. 
     
    
    
     DETAILED DESCRIPTION 
     According to  FIG. 1 , a basic platform  10  includes a carrier plate  12  or a drive surface  13 , on which at least one mover  20  is movably arranged. The mover  20 , as a rule, is a passive mover  20  which preferably includes permanent magnets  19  which interact with coils on the carrier plate  12  or drive surface  13  for generating a relative movement. As an alternative to this, however, the mover  20  could also be actively driven, by the mover  20  including at least one coil package for supplying power which interacts in a suitable manner with means that produce a magnetic field (permanent magnets, coils) on the carrier plate  12  or drive surface  13  for generating a relative movement.  FIG. 1  shows as an example the first carrier plate  12  or drive surface  13 , which is realized as a horizontal plane, as well as a further carrier plate  12  or drive surface  13  which adjoins hereto and is realized as a vertical plane. The two movers  20  arranged hereon are also realized in a planar manner and interact with the respective drive surfaces  13  such that a preferably contactless movement of the movers  20  relative to the drive surface  13  is possible both in the plane of the drive surfaces  13  in at least two degrees of freedom as well as optionally a rotation about the normal of the drive surface  13 . 
     In the case of the exemplary embodiment according to  FIG. 2 , two movers  20  with different basic forms are shown as an example, namely a substantially rectangular mover  20  and a round mover  20 . An oval shape would also be conceivable. The carrier plate  12  or drive surface  13  consists of several individual parts or tiles  16 . The tiles  16  are realized in a square or rectangular manner. The tiles  16  have a substantially planar surface and are constructed in layers. The tile  16  is realized in a square or rectangular manner. Thus, the tile  16  includes a coil plane  18 , a sensor plane  22  and a power electronic plane  24 . A bus system  26 , which connects the tiles  16  to a central computer or processor (not shown), is additionally provided. A power supply  28  with associated connections by means of which the power electronic plane  24  or the coil plane  18  and/or the sensor plane  22  can be supplied with power is additionally provided. 
     The basic platform  10  describes the base element. The necessary design possibilities of the system in space are produced from said base element. The basic platform  10  is to be understood as the system carrier or a machine frame. It must comprise the necessary rigidity. The basic platform  10  can already receive control components and power electronics. As an option, the carrier plate  12  or drive surface  13  could also already be a component part of the basic platform  10 . The basic platform  10  provides the base or the element for the arrangement of further functioning units. The basic platform  10  is additionally the base or the element for the arrangement of further transport systems. The basic platform  10  is to be compatible with other basic platforms. The movers  20  are arranged on the surface of the basic platform  10  on the drive surface  13  so as to be movable relative thereto. To this end, the drive surface  13  or the carrier plate  12  produces a drive force which acts on the mover  20  and displaces it into the desired movement. The stationary drive surface  13  is preferably realized in a planar manner. The mover  20  is actuated such that it is slidable in at least two degrees of freedom and/or is rotatable. Consequently, in particular as described below, different stations are able to be approached in a flexible manner if they are connected together suitably by the drive surface  13 . 
     The mover  20  describes the movable element of the apparatus  8 . On the one hand, the mover  20  serves for producing a relative movement in relation to the carrier plate  12  or drive surface  13 . In addition, there is interaction between the movers  20  or between the mover components. In addition, the mover  20  generates a force onto the carrier plate  12  or drive surface  13 . To this end, the mover  20  includes at least one means for generating a magnetic field, in particular a magnet, preferably a permanent magnet  19 , which interacts with coils  18  of the carrier plate  12  or of the drive surface  13  which produce a moving field for the generation of movement. In this connection, an air gap is realized between the carrier plate  12  or the drive surface  13  and the mover  20  such that a contactless movement of the mover  20  relative to the drive surface  13  is able to take place. In addition, the mover  20  can comprise means for detecting a position. 
     In one view of  FIG. 2 , the mover  20  is shown in perspective. A bottom surface  17  of the mover  20  interacts with the carrier plate  12  or drive surface  13 . Several permanent magnets  19  are arranged on the bottom surface  17  of the mover  20 . The magnetic fields of adjacently arranged permanent magnets  19  differ from one another. The bottom surface  17  essentially consists of four fields each with several permanent magnets  19 . The central region of the bottom surface  17  does not comprise any permanent magnets  19 . WO 2013/059934 A1 provides even more alternative developments which are included in the disclosure of the present application. The mover  20  is surrounded by an anti-collision means  23 , which is advantageous where there is a plurality of moved movers  20 . 
     The carrier plate  12  or drive surface  13  provides a multi-layered component according to  FIG. 2 . It comprises the following basic functionalities. On the one hand, it includes means for generating a relative movement in relation to the mover  20 . In addition, a force which acts on the mover  20  is generated. In addition, it includes means for generating distances (air gap) between the carrier plate  12  and the mover  20 . In addition, the carrier plate  12  includes means for detecting positions as well as means for detecting power transmission and means for transmitting data. 
     According to  FIG. 3 , the mover  20  comprises at least one container receiving means  38  for receiving at least one of the containers  36  to be transported. The container receiving means  38  is preferably realized in a slot-shaped manner in such a way that several containers  36  are able to be arranged one next to another and held by the receiving means  38 . However, a different development of the container receiving means  38  is also possible. In addition, the mover  20  could include means for moving the containers  36 . The mover  20  is preferably cast in order to protect the magnets located inside from environmental influences such as, for example, from corrosion. A process mover  21  is constructed in a technically identical or similar manner as the mover  20 , but, instead of the containers  36 , moves components of process stations, as explained in more detail below. The drive principle or the interaction with the described drive surfaces  13 , however, is not different. 
     The apparatus  8  for processing in particular containers  36  that are connected in nests can be explained in more detail by way of  FIG. 3 . Containers  36  that are situated in a nest  34  are delivered in a tub  32 , a trough-shaped container as shown. The nest  34  serves for receiving containers  36  in particular in the tub  32 . A tub inlet  40  forms the interface to a machine connected upstream (not shown). The tubs  32  are moved by means of a transport device  42  in a direction of transport  31  indicated by an arrow. Various usual transport solutions (band, belt) can be utilized, a solution with transport belts as transport device  42  being shown. In principle, transporting the tubs  32  in a horizontal plane by means of a planar drive corresponding to the representation according to  FIG. 1  would also be possible, that is to say using the mover  20  which is arranged on the horizontally aligned carrier plate  12  or drive surface  13  and is realized for transporting the tub  32 . 
     According to  FIG. 3 , the carrier plate  12  or drive surface  13  is realized as a vertical plane for the movement of the mover  20 . The mover  20  is moved from a starting position  120  shown at the front on the left up into a singling-out position  144 . In the singling-out position  144 , the mover  20  is situated within the reach of a removal means  46 . The removal means  46  is realized, for example, as a robot or robot arm. It serves for removing a nest  34  provided with containers  36  out of the tub  32 . The removal means  46  is capable, as a result of an up and down movement, of removing at least one row of containers arranged perpendicular with respect to the direction of transport  31  and/or of depositing them in the container receiving means  38  of the mover  20 . Consequently, the containers  36  located in the nest  34  are removed and consequently put into singles in rows. Put into singles in rows is to be understood as several containers  36  being arranged substantially in one row perpendicular to the direction of transport  31 . 
     Where applicable, the mover  20  can carry out the removal of the containers  36  out of the tub  32 , which is provided by the removal means  46 , by the mover  20  itself generating a corresponding removal movement relative to the removal means  46 . To this end, the mover  20  moves the container receiving means  38  over the openings of the containers  36  which are standing by for removal. The width of the preferably slot-shaped recess of the container receiving means  38  is greater than the diameter of the neck of the container  36 . The mover  20  moves the container receiving means  38  in such a manner that the recess is able to close around the containers  36 . The containers  36 , which are surrounded by the container receiving means  38 , are then held by the mover  20  rotating the container receiving means  38  such that the containers  36  are clamped as a result. As a result, the inside edges of the preferably slot-shaped recess contact the side walls of the container  36  on both sides. Once the container receiving means  38  has been rotated or has made positive locking contact with the containers  36 , the mover  20  moves upward and removes the containers  36  which have now been put into singles in rows. As an alternative to this, the nest  34  could also be lowered. 
     The removed rows of containers are transported by the mover  20  from the singling-out position  144  to a weighing device  54  and into a weighing position  154 . In this connection, the mover  20 , and consequently also the container receiving means  38 , maintains the slightly tilted position as indicated in  FIG. 3  so that the containers  36  continue to be clamped and held. Said weighing device  54  weighs the empty containers  36 , serving therefore for tare weighing. To this end, the mover  20 , as a result of a corresponding movement up and down in the vertical direction, could release the containers  36  to be weighed on the weighing device  54 . The releasing is effected as a result of tilting the mover  20  and consequently the container receiving means  38  in the opposite direction such that the containers  36  are no longer held in a clamping manner. The particular advantage of putting into singles in rows is shown precisely in the case of weighing. Usual weighing devices  54 ,  56 , which are usually designed for at least single-row weighing, can consequently be used. This is possible in the case of the in-nest processing that is usual up to now, however at great expense such that in the majority of cases only a small percentage is weighed. The weighing could be effected in rows, but also individually. 
     Once weighing has been carried out in the (first) weighing position  154 , the mover  20  transports the weighed empty containers  36  into a filling position  148  where a filling station  48  is arranged. To this end, the mover  20  tilts the container receiving means  38  such that the previously released containers  36  are once again held in a clamping manner. 
     The filling station  48  comprises filling needles  72 . The filling needles  72  are arranged in a preferred manner in a row, in a particularly preferred manner in a row perpendicular to the direction of transport  31 . The liquid to be filled can be, for example, pharmaceutical products. In the filling position  148 , the filling needles  72  are moved toward one another relative to the containers  36 . This could be achieved as a result of the filling needles  72  themselves being movably realized and/or the containers  36  being moved or raised by the mover  20 . In the variant shown in  FIG. 3 , the relative movement is effected purely by means of the mover  20  moving the containers  36 . The mover  20 , on the one hand, maintains the rotation for holding the containers  20  in a clamping manner. On the other hand, the mover  20  moves the containers  36  along the axis of the filling needles  49  during the filling operation. Said relative movement can be modified during the filling operation. As the fill level increases in the container  36 , the mover  20  lowers the container  36  down. Disruptive bubble formation during the filling process is reduced as a result. Once filling has been effected, the filling needles  72  are moved away from one another relative to the containers  36 . This could be effected as a result of the filling needles  72  themselves being movably realized and/or the containers  36  being moved or lowered by the mover  20 . In the exemplary embodiment, the mover  20  lowers the containers  36  further down parallel to the axis of the filling needles  72  such that a collision-free lateral movement is possible. 
     Once filling has been effected, the mover  20  transports the filled containers  36  into a further weighing position  156  within the coverage range of a (further) weighing device  56 . The transport can be effected then such that the filled containers  36  are prevented from sloshing as a result of suitably pivoting the containers  36  about a horizontal axis. To this end, further tilting is effected according to a specific movement profile, the containers  36  continuing to be held in a clamping manner. The anti-sloshing function is explained in more detail further below in conjunction with  FIG. 7 . 
     Gross weighing is carried out at the weighing device  56 . In this connection, similarly as in the tare weighing position  154 , the filled containers  36  are deposited on and received by the weighing device  56  or alternative fill level detection devices. In the weighing position  156 , the following functions have to be realized: holding the containers  36  as a result of correspondingly clamping, releasing the containers  36  as a result of correspondingly rotating the container receiving means  38  in the opposite direction such that the containers  36  are no longer held in a clamping manner for weighing, as well as subsequently holding the containers  36  in a clamping manner as a result of rotating the mover  20 . 
     If the result of the gross weighing in the weighing position  156  should be that a non-tolerable quantity has been filled, the mover  20  could lock out the corresponding container  36  and/or possibly move it into the filling position  148  for topping up. 
     The weighed containers  36  are moved by the mover  20  into a closing position  150  which is situated within the coverage range of a closing station  50 . The closing station  50  includes at least one setting tube  64  and one plunger  62 . Setting tubes  64  and plungers  62  are arranged in rows, in particular in a row perpendicular to the direction of transport  31 . In addition, closures  37  such as, for example, stoppers, are supplied to the setting tubes  64  by means of a feeder  76  in order to close the filled container  36 . The closure  37  passes into the interior of the setting tube  64 . The setting tube  64  is realized such that the closure  37  is somewhat compressed circumferentially such that it subsequently expands again in the container opening and thus closes said opening. The closure  37  is moved into a suitable position above the container opening. A relative movement is then effected between the container  36  and the closure  37  by the plunger  62  plunging into the setting tube  64  and pressing the closure  37  into the container opening. As an alternative to this or in addition to it, the container  36  itself could also be moved by the mover  20  toward the closure  37 . The container  36  is closed. 
     The closed containers  36  are then moved into a resetting position  152  to be reset into the nest  34 . The mover  20  moves the closed containers  36  into the coverage range of a handling device  52  for this purpose. Said handling device  52  can be a robot, for example. The handling device  52  removes, for example, the empty nest  34  which is transported by a tub  32 . The mover  20  sets the singled-out rows of containers back into the nest  34 . To this end, the containers  36 , which are held in a clamping manner, are moved into the nest  34  in the resetting position. As a result of rotating the mover  20  or the container receiving means  38  in the opposite direction preferably in the horizontal, the clamping is eliminated again. The mover  20  then moves the container receiving means  38  without the containers  36 . 
     Once all the rows of the nest  34  have been charged with containers  36 , the handling device  52 , as a result of raising and lowering, resets the nest  34  filled with containers  36  back into the empty tub  34 . Said resetting functionality can be realized by means of the mover  20  and the handling device  52 , for example a robot or an external axis portal or the like. 
     The mover  20  is then moved from the resetting position  152  back again into the starting position  140  again. This could be effected, for example, with a mover  20  which is developed as an active planar drive. As an alternative to this, a planar drive with a static traveling field and/or an additional guide would be possible or, however, also a passive conveying means (such as for example a chain, belt etc.). 
     The filled tub  32  stands by at an outlet  58  which serves as an interface to a machine connected downstream. 
     The following optional process steps can be incorporated into the processing. This can be effected in an application-specific and modular manner: closing under an inert atmosphere, setting the vacuum stopper, preliminary gas application, double chamber, spray/cartridge, flanging, inserting mixing balls for example suspension, inspection (front closure, container, needle, stopper seat, residual oxygen, fill level, residual air bubble), removal station, identification, product loss avoidance. 
     An apparatus  8  for processing containers  36 , in particular cartridges, can be explained in more detail by way of  FIG. 4 . Containers  36  to be filled are delivered in a manner not shown in detail. These can be in particular containers  36  that are to be filled with liquid pharmaceutical products such as, for example, injections, ampoules, cartridges, vials or the like. 
     An inlet  40  forms the interface to a machine connected upstream and not shown. The container receiving means  38  according to  FIG. 4  consists of two strips, which are provided with coaxial, part-circular recesses and extend along the surface of the mover  20 . As an example, four containers  36  can be received. However, another suitable number would also be possible. 
     According to  FIG. 4 , the carrier plate  12  or drive surface  13  is realized as a vertical plane for the movement of the mover  20 . The mover  20  is moved upward from a starting position  120  shown on the left-hand side at the front into an inlet position  140 . In the inlet position  140 , the mover  20  is situated within the reach of the supplied containers  36 . In the inlet position  140 , the supplied containers  36  are moved into the container receiving means  38  by means of handling devices or the like (not shown in any detail). 
     The received containers  36  are transported by the mover  20  from the inlet position  140  to a closing station  50 , in particular for inserting piston stoppers as the usual closures  37  for said purpose, as is typical for cartridges, glass tubes that are open at the top and at the bottom, in an insertion position  141 . In this connection, the containers  36  are closed from below by closures  37  (stoppers). The closing station  50  includes at least one hold-down device  66  and one plunger  68 . Several hold-down devices  66  and plungers  68  are arranged one behind another parallel to the direction of transport  31  or to the drive surface  13  corresponding to the receiving means geometry of the container receiving means  38 . In this connection, different variants as to how a relative movement is produced between stoppers or closures  37  and containers  36  are possible. Thus, the hold-down device  66  and/or the plunger  68  could be moved by a servo drive or also by means of a mover  20  or a process mover  21 .  FIG. 4  shows a variant where the hold-down device  66  and plunger  68  are moved in each case by process movers  21 . Such movers  20  which move certain process steps (closing, for example piston setting, filling, etc.) with the associated components, but not directly the containers  36  are to be understood as process movers  21 . When the closures  37  are set, the upper process mover  21  moves the hold-down device  66  to the top surface of the containers  36  which are held ready by the mover  20 . The lower process mover  21  moves the closures  37  received by the plunger  68  upward and presses them into the bottom surface of the containers  36 . 
     Once the containers  36  have been closed at the bottom by the closures  37  (stoppers) in the insertion position  141 , the mover  20  moves the containers  36  into a ball insertion position  143 . In this connection, the containers  36  are situated below feeders  70  of a ball insertion station  43  by means of which one or more balls are moved into the interior of the container  36  as is necessary for certain dosage forms of specific pharmaceuticals. 
     Once the ball has been inserted, the mover  20  moves the containers  36  into a preliminary filling position  147 . Several filling needles  72  of a preliminary filling station  47  can be provided here, below which the mover  20  moves the containers  36  which are to be preliminarily filled. The filling needles  72  are arranged in rows parallel to the direction of movement  31  for this purpose. Several preliminary filling points can be provided, three preliminary filling points each with four filling needles  72  are provided as an example in  FIG. 4 . The mover  20  can be actuated such that it approaches a free preliminary filling point. To this end, a corresponding sensor system, which detects the presence of a mover  20  at a preliminary filling point and by means of a higher-ranking control unit activates the respective drive surfaces  13  such that the mover  20  does not actuate an occupied preliminary filling point, is provided for evaluating the current mover positions. 
     The filling needles  72  could either be arranged rigidly as shown in  FIG. 4  or movably. In any event, a relative movement is effected in a preferred manner between the filling needle  72  and the container  36 . The filling is effected in a preferred manner above or below the fill level, depending on the product type, in order to support foam-free filling. The filling needle  72  and/or the container  36  are moved for this purpose. The filling needles  72  could be moved by a servo drive or a mover  20  or process mover  21 . In the case of the exemplary embodiment according to  FIG. 4 , however, the containers  36  are moved relative to the filling needles  72  by means of the mover  20 . During the filling process, the mover  20  moves the containers  36  down away from the filling needles  72  parallel to the axis of the filling needles  72 . An advantage of a rigid filling needle  72  is to be seen in reduced particle emissions in said particle-sensitive process area on account of a movement-free filling operation, as could otherwise occur, for example as a result of friction in the movement of the feeders or the like. In the case of said variant, the filling needles  72  can also be, for example, fixed pipes. The mover  20  could also tilt the containers  36  at a slight angle during the filling operation as a result of slight tilting to support a foam-free filling. The containers  36  could be lowered at a slight angle parallel to the axis of the filling needles  72  during the filling operation. 
     Once the preliminary filling has been effected, the mover  20  moves the preliminarily filled containers  36  from the preliminary filling position  147  into a residual filling position  149 . There a residual filling station  49  includes several filling needles  72  arranged in rows parallel to the direction of transport  31  and a corresponding sensor system by means of which the precise residual filling is able to be controlled and monitored. As already stated in conjunction with the preliminary filling station  47 , a relative movement is to be possible between the containers  36  and the filling needles  72  during the filling process. In the case of the exemplary embodiment according to  FIG. 4 , the filling needles  72  of the residual filling station  49  are movably arranged here on a process mover  21 . By means of the movement of the process mover  21 , once again a filling can be achieved above or below the fill level by the filling needles  72  pulling back up out of said containers parallel to the axis of the containers  36  during the filling operation. As an alternative it would be conceivable to place the filling needles  72  and/or the containers  36  at a slight angle during the filling process to optimize the filling operation. As an alternative, it would also be conceivable to move the containers  36  also during the filling operation in addition to the filling needles  72 . 
     Once the residual filling has been effected, the mover  20  moves the correctly filled containers  36  from the residual filling position  149  into a position  151  in which a closure  37  or a cap is supplied to the container  36 . A closing station  50  includes a container  74 , in which the closures  37  are stored and are made ready in a suitable manner in singles by means of a feeder  76 . In this connection, the mover  20  moves the container  36  by way of a preferably continuous towing movement along the feed  76  such that the closure  37  comes to rest on the container opening. 
     The mover  20  then moves the container  36  provided with a closure  37  into a closing position  150 . There the closure  37  and the container  36  are situated within the coverage range of a closing station  50 . This can be a flanging station  53  for example. The corresponding flanging rollers are not shown. The mover  20  positions the containers  36  within the coverage range of the flanging station  53  which carries out a positive locking connection between the closure  37 , such as for example an aluminum cap, and the container  36 . The containers  36  are then closed in the desired manner. 
     The mover  20  can then move the closed containers  36  into an inspection position  155  which is possible as an option and is situated within the coverage range of an inspection station  55 . This latter could be provided with corresponding sensor systems in order to detect and evaluate the desired inspection criteria automatically. 
     The closed containers  36  are then moved into an outlet position  160  within the coverage range of an outlet  60  which supplies the containers  36 , where applicable, to further processing steps. The transfer can be realized by means of the mover  20  and/or a handling device  52 , for example a robot or external axis portal or the like. 
     The empty mover  20  is then moved from the outlet position  160  back again into the starting position  140 . This could be effected, for example, with a mover  20  that is developed as an active planar drive. As an alternative to this, a planar drive with a static traveling field and/or an additional guide would be possible or also a passive conveying means (such as for example a chain, belt, etc.). 
       FIG. 5  shows an apparatus  8  for processing containers  36 , in particular ampoules or vials. The containers  36  to be filled are supplied by means of a conveying screw  39  perpendicular to the plane of the carrier plate  12  or drive surface  13 . A guide wheel  45  takes over the guiding of the containers  36  about 90° parallel to the surface of the carrier plate  12  into an inlet position  140 . There the mover  20  takes the containers  36  out of the inlet  40  into the container receiving means  38 . Suitable handling devices which accomplish said transfer can be provided for this purpose. At least two movers  20 , which, directly adjoining one another, are moved between the guide wheel  45  and the carrier plate  12  or driving surface  13 , can be provided as an example. The movers  20  are moved at the same speed as the incoming containers  36  on the guide wheel  45 . A third mover  20  already stands by when all the container receiving means  38  of the first mover  20  are filled and said first mover leaves the coverage range of the guide wheel  45 . In the meantime, the second mover  20  is filled at a speed synchronized with containers  36  supplied by the guide wheel  45  and so on. 
     The various steps of the receiving of the containers supplied by means of the guide wheel  45  are shown in  FIG. 6 . The guide wheel  45  is rotated about an axis parallel to the plane of the carrier plate  12  or drive surface  13  as is also shown in  FIG. 5 . In the position nearest the drive surface  13 , the outer container receiving means of the guide wheel  45  are also arranged at a spacing to the drive surface  13 . Said spacing is chosen such that the container receiving means  38  of the mover  20  can be arranged between the drive surface  13  and the nearest outer container receiving means of the guide wheel  45  such that the container  36  to be transferred passes between both receiving means. 
     In a first step ( FIG. 6 a   ) first mover  20 . 1  and second mover  20 . 2  are situated in the vicinity of the guide wheel  45 , but are not yet engaged. In the second step ( FIG. 6 b   ), the first mover  20 . 1  moves the container receiving means  38  to a level with the guide wheel  45 . The first mover  20 . 1  aligns the container receiving means  38  parallel to the plane of the guide wheel  45 , for example horizontally as shown in  FIGS. 5 and 6 . The second mover  20 . 2  approaches closer to the guide wheel  45 . In a third step ( FIG. 6 c   ) the first mover  20 . 1  is moved at the same speed as the rotational speed of the container receiving means of the guide wheel  45 . The first mover  20 . 1  is synchronized. The container receiving means of the guide wheel  45  and of the first mover  20 . 1  also face one another such that the container  36  located in between is able to be transferred securely from the guide wheel  45  to the first mover  20 . 1 . The second mover  20 . 2  approaches closer just as a third mover  20 . 3 . In a fourth step ( FIG. 6 d   ) the second mover  20 . 2  is aligned in a suitable manner. The first mover  20 . 1  continues to move synchronously with the guide wheel  45  for receiving the containers  36 . The third mover  20 . 3  is moved further toward the guide wheel  45 . In a fifth step ( FIG. 6 e   ) the second mover  20 . 2  is synchronized and is moved at the same speed as the receiving means of the guide wheel  45 . The container receiving means  38  connects directly to that of the first mover  20 . 1 . The first mover  20 . 1  continues to move at a constant speed and receives the containers  36  supplied by the guide wheel  45 . In a sixth step ( FIG. 6 f   ) first and second movers  20 . 1 ,  20 . 2  continue to move at the same speed within the coverage range of the guide wheel  45 . The third mover  20 . 3  approaches closer. In a seventh step ( FIG. 6 g   ) the third mover  20 . 3  moves its container receiving means  38  to the same level with that of the guide wheel  45 . First and second movers  20 . 1 ,  20 . 2  continue to move. The first mover  20 . 1  begins to leave the range of the guide wheel  45 . In the eighth step ( FIG. 6 h   ) the first mover  20 . 1  is no longer engaged with the guide wheel  45  and moves the container receiving means  38 , now completely provided with containers  36 , to the next processing station. Second and third movers  20 . 2 ,  20 . 3  continue to move at the same speed as the guide wheel  45 . A fourth mover  20 . 4  is moved into the vicinity of the guide wheel  45 . In a ninth step ( FIG. 6 i   ) the container receiving means  38  of the fourth mover  20 . 4  is moved to the same level as the receiving means of the guide wheel  45 . Second and third movers  20 . 2 ,  20 . 3  are moved directly one behind another at the same speed as the circumferential speed of the receiving means of the guide wheel  45 . Then the steps from  FIG. 6 g    are repeated. 
     According to  FIG. 5 , the carrier plate  12  or drive surface  13  is realized as a vertical plane for the movement of the mover  20 . The mover  20  is moved upward from a starting position  120  shown on the left at the front into the receiving position  140 . Corresponding holding, gripping and positioning functions are to be carried out in the receiving position  140 . The removed row of containers is transported by the mover  20  from the receiving position  140  to a weighing device  54  into a weighing position  154 . The weighing device  54  includes several load cells (not described in detail) which are arranged in a row parallel to the direction of transport  31 . The weighing device  54  can be moved up and down as indicated by the arrows in order to contact the containers  36  to be weighed. Said weighing device  54  weighs the empty containers  36  and therefore serves for tare weighing. To this end, the mover  20  can release the containers  36  to be weighed on the weighing device  54  as a result of a corresponding up and down movement in the vertical direction. This could be effected in rows or, however, also individually. The following functions of the mover  20  or of the container carrier  38  are to be realized in the weighing position  154 : depositing and receiving the containers  36  on the weighing device  54 . 
     Once the weighing has been effected in the (first) weighing position  154 , the mover  20  transports the weighed empty containers  36  into a filling position  148  where a filling station  48  is arranged. The filling station  48  comprises filling needles  72  which are preferably arranged in a row which is oriented parallel to the direction of transport  31 . The liquid to be filled can be, for example, pharmaceutical products. In the filling position  148 , the filling needles  72  are moved relative to the containers  36 . This could be achieved as a result of the filling needles  72  themselves being movably realized and/or the containers  36  being moved or raised by the mover  20 . In an alternative that is not shown, in a similar manner to the case of the exemplary embodiment according to  FIG. 4 , the filling needles  72  could be moved by a process mover  21  during the filling operation. Said relative movement can be modified during the filling operation as has already been described in detail in conjunction with the exemplary embodiments according to  FIGS. 3 and 4 . Once the filling has been effected, the filling needles  72  are moved away from one another relative to the containers  36 . This could be effected as a result of the filling needles  72  themselves being movably realized and/or the containers  36  being moved or lowered by the mover  20 . 
     Once the filling has been effected, the mover  20  transports the filled containers  36  into a further weighing position  156  within the coverage range of a further weighing device  56 . The transport can now be effected such that the filled containers  36  are prevented from sloshing as a result of suitably pivoting the containers  36  about a horizontal axis as indicated by a corresponding arrow. 
     The gross weighing is effected on the weighing device  56 . In this connection, similarly as in the tare weighing position  154 , the filled containers  36  are deposited on and received by the weighing device  56  or alternative fill level detection devices. Once again, the further weighing device  54  is also movably realized for receiving the containers  36  to be weighed. In the weighing position  156 , the following functions of the mover  20  or container receiving means  38  have to be realized: depositing and receiving the containers  36  on the weighing device  56 . 
     If the result of the gross weighing in the weighing position  156  should be that a non-tolerable quantity has been filled, the mover  20  could lock out the incorrectly filled container  36  or possibly move it into the filling position  148  for topping up. 
     The weighed containers  36  are moved by the mover  20  into a closing position  150  which is situated within the coverage range of a closing station  50 . The closing station  50  is realized as an example as a stopper setting station. It includes at least one container  74  for the closures  37  which provides a feeder  76  in a suitable manner. A relative movement is then effected between the container  36  and the closure  37 . To this end, the mover  20  moves the open containers  36  upward such that the closures  37  are able to be inserted into the container openings. 
     The closed containers  36  are then moved into an outlet position  160  to be transferred into an outlet  60 . A guide wheel  58 , which receives the supplied containers  36  and, after a 90° rotation, transfers them into the outlet  60  in the form of a conveying screw, is provided for this purpose. In this connection the mover  20  is synchronized to the speed of the guide wheel  58  such that in the transfer position it is moved at the same speed as the circumferential speed of the conveying wheel  58 . 
     The mover  20  is then moved from the outlet position  160  back again into the starting position  120  again. This could be effected, for example, by way of a mover  20  which is developed as an active planar drive. As an alternative to this, a planar drive with a static traveling field and an additional guide would be possible or, however, also a passive conveying means (such as for example a chain, belt etc.). 
     The filled container  36  stands by in the outlet  60  which serves as an interface to a machine that is possibly connected downstream. 
     The following optional process steps can be incorporated into the processing. This can be effected in an application-specific and modular manner: gas application, beading, inacceptable/acceptable outlet, inspection, removal station, screw station, marking, storing, product loss avoidance. 
     According to  FIG. 7 , the mover  20  is provided with a container receiving means  38  in which are situated containers  36  filled with a shadowed product  35 . The fill level of the product  35  is horizontally oriented in a first state a. In said first state a, a′ the product  35  is at rest (acceleration and speed equal to zero). The mover  20  which interacts with a drive surface  13  (not shown) can be rotated about a pivot point  33 . 
     In the top row of  FIG. 7 , a mover  20  is shown without actuation for preventing sloshing of the products  35 , in the row below this a mover  20  is shown with actuation for preventing sloshing of the product  35  in the corresponding states. In a second state b, b′, the mover  20  accelerates the product at a constant positive acceleration a. The speed v increases linearly in a corresponding manner. The product  35  at the top (state b) sloshes, the fill level of the product  35  is inclined with respect to the horizontal or is no longer oriented perpendicular with respect to the container axis. In the case of the actuation of the mover shown below (state b′) for preventing the sloshing however, the mover  20  rotates the container receiving means  38  about the pivot point  31  by an angle α. The angle α is dependent on the respective acceleration a (tan α=a/g, where a is the acceleration of the mover  20  and g is gravity). The angle α describes the rotation in relation to the normal position or rest position. According to state b′ sloshing is prevented as a result of rotating the mover  20 . The fill level of the product  35  remains aligned perpendicular to the container axis. 
     Once it has run through the acceleration phase (states b, b′), a phase at constant speed follows (states c, c′). In said phase the mover  20  is no longer rotated by an angle α (α=0). 
     In a subsequent phase (states d, d′) the mover  20  is delayed at a constant negative acceleration. Without anti-sloshing actuation (state d) the fill level is no longer aligned perpendicular to the container axis. With anti-sloshing actuation (state d′) in contrast, the mover  20  rotates the container carrier  38  as shown by an angle α (tan α=a/g, where a is the (negative) acceleration of the mover  20  and g is gravity). As a result, the fill level remains oriented perpendicular to the container axis and sloshing is consequently prevented. 
     The use of movers  20 ,  21  which interact in the form of a planar drive with the carrier plate  12  or drive surface  13 , open up flexible possibilities both for the container transport and for the movement of components of process stations. The described process stations  38 ,  40 ,  43 ,  44 ,  47 ,  48 ,  49 ,  50 ,  51 ,  53 ,  54 ,  55 ,  56  or those provided depending on the application can also be assembled in another manner in an apparatus  8 ; on account of the flexible transport system installations can also be constructed and, where applicable, modified in a very flexible and modular manner. On account of the substantially contactless drive system, said drive system is precisely suited for application in filling and/or closing and/or weighing devices in the pharmaceutical industry as the demands with respect to particle cleanliness are particularly high here. Other areas of application are also possible, however, in principle.