NEST REMOVER AND STERILE CHAMBER

Abstract

The invention relates to an apparatus for removing a nest from a tub without using vacuum.

Claims

1. An apparatus (10) for removing a nest (100) from a tub (200) without using vacuum, wherein the apparatus (10) comprises a support structure (12) and at least two pick-up units (14) extending away from the support structure (12), wherein the pick-up units (14) are arranged on the support structure (12) in such a manner that they can be arranged on opposite sides (104a, 104b) of a substantially rectangular nest (100) which will be removed, in order to contact, by contact portions (16), the nest (100) and hold the nest by clamping, wherein the respective contact portions (16) have a first, horizontally-extending contact surface (18) for providing a stop in a vertical direction (V) for the nest (100), and a second, vertically-extending contact surface (20) for providing a stop in a horizontal direction (H) for the nest (100), and wherein the apparatus (100) is designed such that the contact portions (16) can be moved away from each other and/or towards each other, wherein at least one of the pick-up units (14) comprises a resilient material, and the contact portion (16) of one of the pick-up units (14) can be moved away from the contact portion (16) of the other pick-up unit (14) as a result of the pick-up unit (14) bending.

2. (canceled)

3. The apparatus (10) according to claim 1, wherein at least one of the pick-up units (14) comprises a contact portion (16) with a centering portion (24), wherein the centering portion (24) comprises an end (26), facing away from the support structure (12), of the pick-up unit (14), wherein the centering portion (24) tapers towards the end (26) of the pick-up unit (14).

4. The apparatus (10) according to claim 1, wherein at least one of the pick-up units (14) is movably arranged on the support structure (12).

5. The apparatus (10) according to claim 1, wherein the apparatus comprises a vertical fixing unit (30), wherein the vertical fixing unit comprises a fixing contact portion (34) which is designed to contact the nest, which is to be gripped, from a side opposite the first, horizontally-extending contact surface (18) of the contact portion (16).

6. The apparatus (10) according to claim 5, wherein the vertical fixing unit (30) is designed to be able to shorten in a resilient manner along its extension in the vertical direction (V) and/or wherein the vertical fixing unit (30) or at least its fixing contact portion (34) is movable in the vertical direction (V) relative to the support structure.

7. The apparatus (10) according to claim 5, wherein the vertical fixing unit (30) and/or the pick-up unit (14) are designed to be removable from the support structure.

8. The apparatus (10) according to claim 1, wherein the apparatus comprises a positioning unit (300) configured to move a nest (100) located in a tub (200) towards the pick-up units (14) so that the nest (100) can be contacted from at least two opposite sides (104), and can be held between the pick-up units (14).

9. The apparatus (10) according to claim 1, wherein the apparatus comprises a nest (100), wherein the pick-up units (14) are arranged on the support structure (12) in such a manner that the nest (100) can be arranged between them.

10. The apparatus (10) according to claim 8, wherein the pick-up units (14) are arranged on the support structure (12) in such a manner that the nest (100) can be arranged between the pick-up units (14) in such a way that they contact the rectangular nest (100) on diagonally-opposite quadrants (106a, 106c).

11. A sterile chamber in which an apparatus (10) according to claim 1 is arranged, in order to remove a nest (100) from a tub (200).

12. The apparatus (10) according to claim 5, wherein the apparatus comprises two vertical fixing units (30).

13. The apparatus (10) according to claim 6, wherein the vertical fixing unit (30) is designed to be able to shorten in a resilient manner along its extension in the vertical direction (V) via a spring mechanism (32) which comprises a spring stroke limiter.

14. The apparatus (10) according to claim 8, wherein the positioning unit (300) is designed to grip and move the tub (200), and the nest (100).

15. The apparatus (10) according to claim 9, wherein the nest (100) has recesses (108) in its outer edge (110) which are provided for receiving the pick-up units and/or the centering portions and contact portions (16) thereof.

16. The apparatus of claim (15) wherein an imaginary connecting line VL of at least two of the recesses (108) extends through a center of gravity (S) of the nest (100).

17. The apparatus (10) according to claim 10, wherein the pick-up units (14) contact the rectangular nest (100) on a narrow side (104) of the rectangular nest (100).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Further advantages and advantageous embodiments of the subject matter of the invention are found in the description, the claims, and the drawings.

[0049] The above-mentioned features and the features listed further below can be used per se or in any combination thereof. The embodiments shown and described are not to be understood as an exhaustive enumeration, but, rather, have an exemplary character for describing the invention.

[0050] The invention is illustrated in the drawings and is explained in more detail with reference to exemplary embodiments, wherein:

[0051] FIG. 1 is an apparatus according to the invention in a perspectival view;

[0052] FIG. 2 is a side view of the apparatus from FIG. 1;

[0053] FIG. 3 is a subregion of a pick-up unit in engagement with a nest;

[0054] FIG. 4 is a further apparatus according to the invention in a perspectival view;

[0055] FIG. 5 is a pick-up unit;

[0056] FIG. 6 is a lower end of a pick-up unit in a detailed view;

[0057] FIG. 7 is a vertical fixing unit; and

[0058] FIG. 8 is a plan view of a schematically illustrated nest.

DETAILED DESCRIPTION

[0059] FIG. 1 is an apparatus 10 for removing a nest 100 from a tub 200 without using vacuum.

[0060] The apparatus 10 comprises a frame-like support structure 12. The frame-like support structure 12 is held on a stand 22. In the present example, the frame-like support structure 12 is held stationarily on the stand 22. It can also be provided that the support structure 12 be movable. The stand 22 can, for example, be designed to be retractable and extendable. The support structure 12 can be movable up and down.

[0061] The apparatus 10 further has two pick-up units 14. The pick-up units 14 are designed like pins. They are elongate in the vertical direction, and their length is a multiple of their extension in the direction orthogonal to the vertical direction.

[0062] The pick-up units 14 are designed and arranged such that they extend away from the support structure 12 in the manner of a pin or rod.

[0063] The pick-up units 14 are arranged on the support structure 12 in such a way that they can be arranged on opposite sides 104a, 104b of a nest 100 to be removed and which is substantially rectangular. The arrangement of the nest 100 between the pick-up units 14 allows the nest 100 to be contacted by each of the contact portions 16 of the pick-up units 14.

[0064] The respective contact portions 16 have a first, horizontally-extending contact surface 18, and a second, vertically-extending contact surface 20 (see in particular FIGS. 3 and 6).

[0065] The first, horizontally-extending contact surface 18 serves to provide a stop in the vertical direction V for the nest 100. The first, horizontally-extending contact surface 18 essentially forms a contact surface on which the nest 100 can rest, or does rest, in the held state.

[0066] The second, vertically-extending contact surface 20 serves to provide a stop in the horizontal direction H for the nest 100. The second, vertically-extending contact surface 20 essentially forms a lateral stop which the nest lies against laterally in the held state. Since the second, vertically-extending contact surface 20 is in contact with the nest in several directions in the recesses 108, the nest is fixed in the horizontal direction.

[0067] The contact portions 16 are movable away from each other or towards each other.

[0068] The pick-up units 14 comprise a resilient material, and/or they consist of a resilient material in the present example.

[0069] The pick-up units 14 are flexible in such a way that they can be bent away from each other with little effort. Or, the contact portions 16 can be bent away from each other with little effort. In other words, the contact portion 16 of the one pick-up unit 14 is, by bending the pick-up unit 14, movable away from the contact portion 16 of the other pick-up unit 14, or the contact portions 16 can be spread apart or moved away from each other by bending their respective pick-up units 14.

[0070] The contact portions 16 each comprise a centering portion 24. The centering portion 24 in this case comprises an end 26, facing away from the support structure 12, of the pick-up unit 14. The centering portion 24 tapers towards the end 26 of the pick-up unit 14.

[0071] The centering portion 24 serves essentially as an insertion aid.

[0072] The nest 100 may be part of the apparatus. The nest 100 comprises a peripheral edge 110 projecting in the horizontal direction. In its outer edge 110, the nest 100 comprises recesses 108 which are provided for receiving the pick-up units 14 and/or the centering portions 24 and contact portions 16 thereof.

[0073] The apparatus 10 comprises two vertical fixing units 30. More than two vertical fixing units 30 can also be provided. The vertical fixing units 30 are designed to be pin-like. The vertical fixing units 30 each comprise a fixing contact portion 34. The fixing contact portion 34 is designed in each case to contact the nest 100, which is to be gripped and/or removed, from a side opposite the first, horizontally-extending contact surface 18 of the contact portion 16; see in particular FIG. 2.

[0074] The vertical fixing unit 30 can be designed to be resilient—in particular, via a spring mechanism 32 which in particular comprises a spring stroke limiter—and capable of being shortened along its extension in the vertical direction.

[0075] The vertical fixing unit 30 can be movable relative to the support structure 12. For example, they can be designed to be extendable. In particular, as in the example shown in the figure, the fixing contact portion 34 can be movable in the vertical direction relative to the support structure 12.

[0076] The vertical fixing unit 30 comprises two pin-like portions 40, 42, an upper pin-like portion 40 and a lower pin-like portion 42. The portions 40, 42 do not have to be designed in the manner of a pin, but can also be designed, for example, in a block-like or other manner.

[0077] The two pin-like portions 40, 42 are connected to each other via a spring mechanism 32. In the present case, the spring mechanism 32 comprises two, laterally-projecting, U-shaped spring elements 44, 46. The two pin-like portions 40, 42 are connected to each other at a distance from each other by the laterally-projecting, U-shaped spring elements 44, 46. Each of the spring elements 44, 46 is connected to the upper pin-like portion 40 and the lower pin-like portion 42 by one of its legs, respectively. In a compression/expansion process, the legs of the U-shape are moved towards or away from each other.

[0078] The pin-like portions 40, 42 can be moved towards each other against the preload of the spring connection 36, wherein the vertical fixing unit 30 is shortened in its vertical extension.

[0079] The vertical fixing units 30 and the pick-up units 14 are designed to be removable from the support structure 12. For this purpose, the vertical fixing units 30 comprise a flange 50, and each of the pick-up units 14 comprises a flange 52. The vertical fixing units 30 and the pick-up units 14 are attachable to the support structure via the respective flanges 50, 52—for example, via a screw connection.

[0080] To remove the nest 100 from the tub 200, the nest 100 (or the tub 200 and the nest 100) located in the tub 200 is moved from below towards the pick-up units 14. In this case, the nest 100 is positioned in advance such that the pick-up units 14 are placed directly above the recesses 108. Upon this lifting, the respective centering portions 24 contact the recesses 108. Since the centering portion 24 widens upwards (or tapers downwards), the pick-up units 14 or their contact portions 16 are pushed apart when the nest is raised further. The nest 100 is raised further until the underside of the edge 110 is at the level of the first, horizontally-extending contact surface 18. The second, vertically-extending contact surface 20 is set back relative to the upper region of the centering portion 24, such that the pick-up units 14 move towards each other due to their inherent tension. The nest 100 rests with the underside of its edge 110 on the first, horizontally-extending contact surface 18, and is gripped laterally by the second, vertically-extending contact surfaces 20 in a clamping manner in the region of the recesses 108. During the upward movement, the upper edge of the nest 100 contacts the vertical fixing units 30 or the fixing contact portions 34 thereof. Upon a further upward movement of the nest 100, the vertical fixing units 30 are shortened against the force of the spring mechanism 32. The two pin-like portions 40, 42 move towards each other, wherein the lower portion 42 rests against the nest 100 from above with a pressure caused by the spring mechanism 32. In the end position, the edge of the nest 100 is then held clamped between the lower portion 42 and the first, horizontally-extending contact surface 18.

[0081] The apparatus 10 can comprise a positioning unit 300 which is designed to move the tub 200 with nest 100 located therein towards the pick-up units 14. In FIG. 4, the positioning unit 300 is provided in the form of a robotic arm with multiple degrees of freedom. The positioning unit 300 can move the tub 200 freely in space. Once the nest 100 is held by the pick-up units 14, the positioning unit 300 can remove the tub 200 and then grip the nest 100.

[0082] Alternatively or in addition to the resilient design of the pick-up units 14, it can be provided that at least one of the pick-up units 14 be arranged movably on the support structure 12. The pick-up units 14 can, for example, be pivotably attached to the support structure 12; in particular, they can be preloaded into an initial position and can be spread apart by the preload against the preload force.

[0083] FIG. 8 schematically shows the nest 100. The rectangular nest 100 has recesses 108 on diagonally-opposite quadrants 106a, 106c, which recesses are designed to be complementary to the pick-up units 14 and are provided for receiving them. The recesses 108 are each arranged on a narrow side 104 of the rectangular nest 100.

[0084] The recesses 108 can also be arranged on the longitudinal sides. As described, they are generally arranged in the diagonally-opposite quadrants, but can also lie exactly centrally on the center lines, for example. In particular, an imaginary connecting line VL (dotted line) of the two recesses (or the pick-up units 14 if they have gripped the nest 100 already) extends through a center of gravity S of the nest. The chance that the nest may tip is reduced as a result. The quadrants 106 a, b, c, d are shown separated from each other in FIG. 6 by broken lines 112.