WO2025098891A1 - Articulated arm assembly - Google Patents

Abstract

The present invention relates to an articulated arm assembly (100) for a handling device (102), in particular a handling device (102) for use in a process unit (104) for producing a product, the articulated assembly (100) having: a base apparatus (106) for coupling, in particular mechanically coupling, the articulated arm assembly (100) to a drive apparatus (112); a first articulated arm (108) which is movably and in particular rotatably mounted on the base apparatus (106); and a second articulated arm (110) which is movably and in particular rotatably mounted on the first articulated arm (108), wherein the second articulated arm (110) can be coupled to an action element (114), in particular for producing a product, the action element (114) being movable by means of the articulated arm assembly (100). The present invention also relates to a handling device (120) and a process unit (104) which each have an articulated arm assembly (100).

Description

Articulated arm arrangement

The present invention relates to an articulated arm assembly for a handling device and, in particular, to an articulated arm assembly for a handling device for use in a process unit for manufacturing a product.

Furthermore, the present invention relates to a handling device, in particular for use in a process unit for producing a product, as well as a process unit for producing a product, in particular a biological pharmaceutical product.

Particularly in the pharmaceutical sector, for example, for personalized therapeutics, handling devices and/or process units are often used to manufacture a biological-pharmaceutical product, for example, in order to be able to carry out different and, in particular, individually tailored treatment processes for the production of the product. These highly personalized therapeutics are therefore associated with high costs, particularly personnel costs, due to their individual and/or micro-production requirements, and there is often no possibility for large-scale application and/or industrial production of individual and/or micro-batch sizes. Furthermore, these treatment processes preferably require the highest degree of sterility, as well as precise handling of tools and/or sensors to carry out the treatment processes.

The present invention is therefore based on the object of solving the aforementioned problem and, in particular, of providing an articulated arm arrangement for a handling device, in particular a handling device for use in a process unit for producing a product, by means of which such products can preferably be produced in an efficient and/or automated manner.

This object is achieved according to the invention by the features of claim 1. Advantageous developments of the invention are described in the dependent claims.

The articulated arm arrangement according to the invention for a handling device, in particular a handling device for use in a process unit for manufacturing a product, comprises: a base device for, in particular, mechanical coupling of the articulated arm arrangement to a drive device; a first articulated arm, which is mounted on the base device so as to be movable and, in particular, rotatable; and a second articulated arm, which is movably and in particular rotatably mounted on the first articulated arm, wherein the second articulated arm can be coupled to an action element, in particular for producing a product, wherein the action element is movable by means of the articulated arm arrangement.

It can be provided that an action element serves to carry out an action and/or a treatment process on an object, in particular a product and/or an object used to manufacture the product.

It can be provided that the second articulated arm can be coupled directly or indirectly to an action element. For example, in the case of an indirect coupling, a holding element can be provided between the second articulated arm and the action element.

For example, it can be provided that the action element is activated by means of the

The articulated arm arrangement is at least linearly movable.

The action element can be moved at least one-dimensionally by means of the articulated arm arrangement. For example, it can be provided that the action element can be moved by means of the

Articulated arm arrangement is movable exclusively linearly and/or one-dimensionally. This can be understood, in particular, that the action element can be moved exclusively linearly and/or one-dimensionally in the form of a trajectory curve by means of the articulated arm arrangement. It is understood that two- and/or three-dimensional mobility can also be provided.

It can be provided that the base device is fixed and/or immovable with respect to an environment of the articulated arm arrangement.

It can be provided that the first articulated arm is movable and in particular rotatable relative to the base device and/or relative to the second articulated arm.

Preferably, the first articulated arm can be movable two-dimensionally.

It can be provided that the second articulated arm is movable and in particular rotatable relative to the base device and/or relative to the first articulated arm.

Preferably, the second articulated arm can be movable two-dimensionally. It can be provided that the first articulated arm is arranged between the base device and the second articulated arm.

It can additionally or alternatively be provided that a coupling region of the second articulated arm is arranged between the first articulated arm and the second articulated arm with respect to the action element that can be coupled to the second articulated arm, or is arranged on a side of the second articulated arm facing away from the first articulated arm.

To a certain extent, it can be provided that the coupled or coupleable action element can be arranged or is arranged between the first articulated arm and the second articulated arm or can be arranged or is arranged on a side of the second articulated arm facing away from the first articulated arm.

It can be provided that the base device has a particularly flange-like base body and a first shaft for receiving a torque that can be received from the drive device, wherein the first shaft is mounted on the base body and the torque that can be received from the drive device can be transmitted to the first articulated arm by means of the first shaft.

For example, it can be provided that the base body has a fixing section for fixing and/or mounting the articulated arm arrangement relative to its surroundings. For example, the fixing section, and thus also the articulated arm arrangement, can be fixed and/or mounted on a wall. Additionally or alternatively, the fixing section can be fixed and/or mounted on a drive device, which is or can be fixed relative to its surroundings.

For example, the fixing section can be arranged on a side of the base device facing away from the first articulated arm.

It can be provided that the first shaft is fixedly connected to the first articulated arm, and in particular to a housing of the first articulated arm.

It can be provided that the first shaft is connected to the base device, and in particular to the base body of the base device, in a bearing manner, in particular via a shaft bearing device. Additionally or alternatively, it may be provided that a coupling element is provided on the first shaft for releasably coupling the first shaft to the drive device.

For example, it can be provided that the coupling element is designed as a claw coupling element and/or as a magnetic coupling element.

For example, a drive device coupled to the articulated arm assembly can be easily separated from the articulated arm assembly and, in particular, disassembled by the coupling element, particularly prior to sterilization and, preferably, autoclaving of the articulated arm assembly. It is understood that the drive device can also be easily reconnected to the articulated arm assembly in this manner and, in particular, mounted on it.

It can be provided that the articulated arm arrangement has a braking device, in particular an electromagnetic one, which is arranged between the base device and the first articulated arm and by means of which a relative movement and in particular a relative rotation between the base device and the first articulated arm can be braked.

It can be provided that a movement of the first articulated arm can be braked by means of the braking device, which (movement) can be brought about by means of the torque received from the drive device.

It can be provided that the braking device comprises: a rotor which is fixed to the first articulated arm, and in particular to a housing of the first articulated arm; and a stator which is fixed to the base device, and in particular to a base body of the base device, wherein the stator can be selectively engaged with the rotor to provide a braking force.

It can be provided that the rotor has at least one magnetic and/or magnetizable element, in particular a permanent magnet element, and the stator has at least one electromagnet.

It can be provided that the braking device, and in particular the rotor and/or the stator, is arranged along the first shaft and/or the braking device, and in particular the rotor and/or the stator, is arranged concentrically with the first shaft. It can be provided that the braking device, and in particular the rotor and/or the stator, is designed to be substantially rotationally symmetrical.

It can be provided that the first articulated arm, and in particular a housing of the first articulated arm, is mounted on the base device, and in particular on a base body of the base device, by means of a first adjusted bearing arrangement.

The first adjusted bearing arrangement can, for example, be an X arrangement or an O arrangement.

The first adjusted bearing arrangement can, for example, form and/or be a clearance-free bearing arrangement.

It may additionally or alternatively be provided that the second articulated arm, and in particular a housing of the second articulated arm, is mounted on the first articulated arm, and in particular a housing of the first articulated arm, by means of a second adjusted bearing arrangement.

The second adjusted bearing arrangement can, for example, be an X arrangement or an O arrangement.

The second adjusted bearing arrangement can, for example, form and/or be a play-free bearing arrangement.

It can be provided that the base device and the first articulated arm are operatively connected to one another by means of a first movement transmission device and the first articulated arm and the second articulated arm are operatively connected to one another by means of a second movement transmission device.

It can be provided that the first and the second movement transmission device are operatively connected to one another by means of a second shaft and a housing of the second articulated arm, wherein the second shaft is fixedly connected to the first articulated arm and is mounted in the second articulated arm, and in particular in the housing of the second articulated arm. It can be provided that the first movement transmission device has a first rolling element, a first drive element and a first torque transmission element.

It can be provided that the first rolling element is fixedly connected to the base device, the first drive element is arranged in the first articulated arm on the second shaft and is operatively connected to the first rolling element by means of the first torque transmission element.

It may additionally or alternatively be provided that the second movement transmission device comprises a second rolling element, a second drive element and a second torque transmission element.

It can be provided that the second rolling element is arranged in the second articulated arm on the second shaft, the second drive element is arranged in the second articulated arm on a third shaft which is provided on a coupling region of the second articulated arm relative to the action element which can be coupled to the second articulated arm, wherein the second drive element is operatively connected to the second rolling element by means of the second torque transmission element.

It can be provided that the first torque transmission element is designed as a belt element and/or as a chain element.

It may additionally or alternatively be provided that the second torque transmission element is designed as a belt element and/or as a chain element.

It may additionally or alternatively be provided that the first torque transmission element or at least its surface comprises a particularly temperature-resistant lubricant, preferably silicone.

It may additionally or alternatively be provided that the second torque transmission element or at least its surface comprises a particularly temperature-resistant lubricant, preferably silicone. It can be provided that the first motion transmission device, and in particular the first rolling element and/or the first drive element of the first motion transmission device, are fixed in the articulated arm arrangement by means of one or more force-lock-based fastening devices.

It may additionally or alternatively be provided that the second movement transmission device, and in particular the second rolling element and/or the second drive element of the second movement transmission device, are fixed in the articulated arm arrangement by means of one or more friction-based fastening devices.

It can be provided that one or more of the force-lock-based fastening devices is designed as a clamping set and/or as a taper bushing and/or comprises such a component. As a result, the components fastened in this way, in particular the respective rolling elements and/or the respective drive elements, can advantageously be continuously adjustable, in particular with regard to their orientation and/or mounting position. Preferably, this ultimately allows a movement of the action element that can be coupled or is coupled to the second articulated arm to be carried out precisely and/or adjustably.

It can be provided that the first movement transmission device has a first clamping device by means of which a first torque transmission element of the first movement transmission device can be clamped to reduce play and/or minimize wear.

For example, the first torque transmission element can be tensioned inward relative to the first articulated arm by means of the first tensioning device. This can enable a compact design of the first articulated arm. It is understood that the first torque transmission element can also be tensioned outward relative to the first articulated arm by means of the first tensioning device.

It may additionally or alternatively be provided that the second movement transmission device has a second clamping device by means of which a second torque transmission element of the second movement transmission device can be clamped to reduce play and/or minimize wear. For example, the second torque transmission element can be tensioned inward relative to the second articulated arm by means of the second tensioning device. This can enable a compact design of the second articulated arm. It is understood that the second torque transmission element can also be tensioned outward relative to the second articulated arm by means of the second tensioning device.

It can be provided that a first rolling element of the first motion transmission device has a larger diameter than a first drive element of the first motion transmission device that is operatively connected thereto.

It may additionally or alternatively be provided that a second rolling element of the second movement transmission device has a smaller diameter than a first drive element of the first movement transmission device that is operatively connected thereto.

It may additionally or alternatively be provided that a second drive element of the second movement transmission device has a larger diameter than a second rolling element of the second movement transmission device that is operatively connected thereto.

It can be provided that a housing of the first articulated arm is sealed to the outside.

Additionally or alternatively, it may be provided that a housing of the second articulated arm is sealed to the outside.

It may additionally or alternatively be provided that a first sealing element, in particular a radial shaft sealing ring, is provided between the base device and the first articulated arm for sealing a transition between the same.

It may additionally or alternatively be provided that a second sealing element, in particular a radial shaft sealing ring, is provided between the first articulated arm and the second articulated arm for sealing a transition between the same. It may additionally or alternatively be provided that a third sealing element, in particular a radial shaft sealing ring, is provided on a coupling region of the second articulated arm relative to the action element which can be coupled to the second articulated arm in order to seal a transition between the same.

It can be provided that the joint arrangement has a holding member that is movably and, in particular, rotatably mounted on the second joint arm and via which the action element can be coupled to the second joint arm. To a certain extent, the second joint arm can be indirectly coupled to the action element in this way.

It can be provided that the holding member is mounted on and/or in a coupling region of the second articulated arm in a movable and, in particular, rotatable manner.

It can be provided that the base device has at least one sealing device, by means of which a coupling region of the base device can be sealed from the outside with respect to the drive device. The coupling region can be formed, for example, on the fixing section of the base device.

It can be provided that the at least one sealing device is designed as a circular sealing element, in particular an O-ring-like sealing element, and/or comprises such a sealing element.

For example, it can be provided that the action element is designed as a tool element.

For example, it can be provided that the tool element is designed as a supply element and/or discharge element and/or comprises one by means of which a consumable, in particular a fluid, can be dispensed and/or absorbed. For example, such a tool element can be designed in a tubular manner, for example as a hollow needle or injection needle or hose element or tubular element.

Additionally or alternatively, it can be provided, for example, that the tool element is designed as a removal element, in particular a sampling element, and/or comprises such a element, by means of which a part of an object that can be used to produce the product, e.g. a starting material and/or an intermediate product, or a product, in particular for sampling, can be picked up and/or grasped. Additionally or alternatively, it can be provided, for example, that the tool element is designed as a manipulation element, in particular a sample manipulation element, and/or comprises such a manipulation element, by means of which a part of an object usable for producing the product, e.g., a reactant and/or an intermediate product, or a product, can be manipulated, in particular modified. Such manipulation can, for example, be carried out mechanically, electrically, magnetically, and/or radiation-based, and/or at least comprise a step based on these methods.

Additionally or alternatively, it can be provided, for example, that the action element is designed as a sensor element.

For example, it can be provided that the sensor element can be a means for analyzing process parameters and in particular can be designed as a probe and/or a sensor and/or can comprise such a sensor.

For example, the probe and/or the sensor can be configured to capture, detect and/or determine at least one of the following: at least one temperature, at least one particle, for example at least one particle concentration, at least one vibration, at least one acceleration, at least one cell count, at least one cell density, at least one turbidity, for example at least one light absorption due to liquid turbidity, at least one gas composition, at least one gas, for example CO2, and/or at least one chemical substance, in particular at least one biochemical substance, for example at least one metabolite. It is understood that the preceding list is exemplary and not exhaustive.

By means of the provided articulated arm arrangement, for example, linear movements of the action element can be generated without requiring linear relative movements of components, which can in particular improve repeatability and/or precision.

Furthermore, an articulated arm arrangement can be provided which is autoclavable and can thus be used in germ-sensitive environments, such as in the biological pharmaceutical sector. Additionally or alternatively, the simple design of the articulated arm arrangement can result in very good cleanability, particularly given that the articulated arm arrangement and preferably its components can have a hygienic design, in particular can meet the criteria of a hygienic design, for example with regard to a minimized number of undercuts, whereby cleanability can be optimized.

Furthermore, the provided articulated arm arrangement can have a compact design due to its design, so that installation in limited space can be possible.

In addition, the use of toothed belt drives and/or backlash-free bearings in the provided articulated arm arrangement can ensure high accuracy, since the articulated arm arrangement can thereby advantageously be free of counter-shock.

Furthermore, the provided articulated arm arrangement can be mounted in both a vertical and/or horizontal installation position, in particular on a wall of, for example, a process unit.

Furthermore, the present invention provides a handling device, in particular for use in a process unit for manufacturing a product, which has an articulated arm arrangement according to the above and/or following description.

It should be understood that all structural and/or functional features associated with the articulated arm assembly according to the invention and its embodiments described above and/or below can also be included in said handling device, either alone or in combination, and the associated properties, configurations and/or advantages can also be included and achieved accordingly.

It can be provided that the handling device has a drive device or the said drive device for providing a torque, wherein the drive device is coupled, in particular mechanically, to the articulated arm arrangement via the base device. In particular, it can be provided that the drive device is mechanically coupled to the articulated arm arrangement via the first shaft and by means of the coupling element.

It can be provided that the handling device has a guide device via which an action element that can be coupled or is coupled to the second articulated arm can be guided at least linearly.

For example, it can be provided that the guide device is designed as a type of assembly aid for defining a mounting position of the action element, for example with regard to a linear alignment.

Furthermore, the present invention provides a process unit for producing a product, in particular a biological-pharmaceutical product, which comprises an articulated arm arrangement according to the above and/or following description and/or a handling device according to the above and/or following description.

It should be understood that all structural and/or functional features associated with the articulated arm assembly and/or handling device according to the invention described above and/or below and their respective embodiments can also be included in said process unit either alone or in combination and the associated properties, configurations and/or advantages can also be included and achieved accordingly.

It can be provided that the process unit has an interior space formed by a wall, in which at least the articulated arm arrangement is arranged.

It can be provided that the wall forms several side surfaces of the interior space and/or the process unit, preferably a front surface, a rear surface, an upper surface, a lower surface, and/or a first and a second opposing lateral surface. For example, a wall section of the wall can be assigned or associated with each of said surfaces.

It can be provided that the wall is thermally insulating, preferably with respect to an environment of the process unit. It can be provided that the process unit has an opening device to enable the interior to be opened.

It may be provided that the opening device allows access to the interior space via said opening. It is understood that the opening device may additionally or alternatively allow closing of the interior space.

It can be provided that the opening device comprises an opening element for opening and closing the interior space, which is assigned to a wall section of the wall.

For example, it can be provided that the process unit can be equipped and/or equipped via the opening device, for example with the articulated arm arrangement and/or one or more tool units and/or one or more sensor units.

It can be provided that a particularly aseptic production area can be defined or is defined and/or formed by the interior of the process unit. To a certain extent, it can be provided that the interior of the process unit is a particularly aseptic production area.

It can be provided that the process unit comprises at least one access device for enabling access to the interior.

It can be provided that the action element coupled or coupleable to the second articulated arm can be positioned or is positioned by means of the articulated arm arrangement with respect to the at least one access device.

It can be provided that the at least one access device of the process unit can enable access to the in particular aseptic production area of the process unit, which is definable or defined and/or formed by the interior space.

It can be provided that the action element coupled or connectable to the second articulated arm is movable in the interior by means of the articulated arm arrangement and/or access via which at least one access device can be moved at least partially out of the interior.

It can be provided that the access device comprises a door element which is arranged on and/or adjacent to the wall in the interior and which serves to open and close an access opening to the interior formed in the wall.

For example, it can be provided that the door element is movable, for example pivotable, in the direction of the interior for opening and closing.

It can be provided that the process unit has a further interior space which is arranged adjacent to the interior space and is spatially separated from the interior space.

For example, it can be provided that the further interior space and the interior space are separated from each other by a part of the wall, for example a wall section.

It can be provided that the further interior space serves to receive and accommodate in particular temperature-sensitive and/or moisture-sensitive components, such as drive devices, motors, circuit boards, etc., which can be or are assigned to the articulated arm arrangement and/or the handling device and/or the opening device and/or the access device.

In a sense, the additional interior space can be provided as a type of technical box. This technical box can, for example, be removable before autoclaving the remaining process unit and/or can be insulated and/or cooled, in particular passively or actively cooled, in such a way that the said sensitive components are not damaged during autoclaving of the interior.

In other words, it can be provided that the process unit has a technology container or a technology box, which is connected or connectable to the process unit, preferably in an exchangeable manner, and/or is formed integrally with the process unit. For example, it can be provided that such a technology box has an interior space or the further interior space, in particular for receiving and accommodating preferably temperature-sensitive and/or moisture-sensitive components for operating the articulated arm arrangement and/or the handling device and/or one or more tool units and/or one or more sensor units. It is conceivable that this interior of the technology box or the further interior is or can be arranged adjacent to that interior of the process unit and is spatially separated from this interior of the process unit. This technology box can, for example, be removable before cleaning and/or sterilizing, e.g. autoclaving, the remaining process unit and/or can be insulated and/or cooled, in particular passively or actively cooled, in such a way that the said sensitive components are not damaged during cleaning and/or sterilizing, e.g. autoclaving, of the process unit and in particular of the interior of the process unit.

For example, it can be provided that the process unit is designed as a treatment box, e.g. a patient box, in particular for receiving and/or transporting and/or treating an object.

Additionally or alternatively, it can be provided that the process unit is designed as a tool box, in particular for treating an object, which can in particular comprise a tool unit, in particular for treating the object and/or a sensor unit, in particular for analyzing the object.

For example, a tool unit may have an action element designed as a tool element and/or such an action element may be assigned or assignable to the tool unit.

For example, a sensor unit may have an action element designed as a sensor element and/or such an action element may be assigned or assignable to the sensor unit.

Additionally or alternatively, it can be provided that the process unit is designed as a supply box, in particular for providing a material, e.g. a consumable material, and/or a substance which may be required for the treatment of an object.

It may be provided that such an object comprises, for example, at least one of the following: a reactant, in particular a material containing cells, for example a starting material containing cells, and/or a biological-pharmaceutical material and/or a biological-pharmaceutical workpiece, an intermediate product, in particular an intermediate product containing cells and/or a biological-pharmaceutical intermediate product, a product, for example the product to be manufactured, in particular a biological-pharmaceutical product, for example the biological-pharmaceutical product to be manufactured, a consumable, for example a fluid and/or a component obtained or obtainable from a fluid.

It should be understood that the above list is exemplary and not exhaustive. Alternatively or additionally, the object may include one or more and/or a combination of the previously described enumeration elements.

The process unit may be designed to be movable and/or transportable relative to its surroundings and/or, in particular, to be automatically movable. It is understood that the process unit may additionally or alternatively be stationary relative to its surroundings.

For example, the process unit may comprise a particularly freely moving transport vehicle or be designed as such and/or be capable of being coupled to a particularly freely moving transport vehicle.

It can be provided that the transport vehicle, in particular a free-moving one, is guided by an induction loop and/or magnetically, in particular by permanent magnets and/or magnetic coils. Additionally or alternatively, sensor-based guidance, in particular camera-based guidance and/or radar/LIDAR-based guidance, can be provided.

It can be provided that the process unit can be connected and in particular mechanically coupled to one or more further process units for producing a product, in particular a biological pharmaceutical product.

For example, it can be provided that the process unit can be connected simultaneously and, in particular, mechanically coupled to a number of further process units corresponding to the number of its own access devices. It can be provided that the process unit comprises a control unit which is in particular designed and programmed to at least partially or completely regulate and/or control the process unit.

It can be provided that the control unit is designed as an intermediary unit between the process unit and a higher-level further control unit, with which the control unit can be connected by signaling.

For example, the higher-level further control unit can be a computer system assigned or assignable to the process unit, e.g. from a production plant, which can, for example, itself be designed and programmed to at least partially or completely regulate and/or control the process unit.

The computer system assigned or assignable to the process unit can, for example, be arranged in the environment of the process unit, for example in a production plant, and/or arranged spatially separated or separately and can be connected or connected to the process unit, in particular to the control unit designed as an intermediary unit, in particular wirelessly and/or by cable, for example by means of one or more communication interfaces of the process unit.

It is understood that it can be provided that the articulated arm arrangement and/or the handling device can be controllable with the said control unit and/or the higher-level further control unit.

It is further understood that the process unit may comprise an energy storage device, in particular for power supply, and/or may be connectable to such a device for power supply. Preferably, the articulated arm arrangement and/or the handling device may be supplied with power in this way.

Further preferred features and/or advantages of the present invention are the subject of the following description and the drawings of exemplary embodiments.

The figures show: Fig. 1 is a schematic perspective view of an articulated arm assembly according to an exemplary embodiment of the present invention;

Fig. 2 is a schematic perspective view of part of the articulated arm assembly of Fig. 1;

Fig. 3 is a schematic plan view of the articulated arm arrangement of Fig. 1 with a section line A-A and another section line B-B;

Fig. 4 is a schematic side view of the articulated arm arrangement of Fig. 1 with a further section line C-C;

Fig. 5 is a schematic sectional view of the articulated arm arrangement of Fig. 3 along the section line A-A;

Fig. 6 is a schematic sectional view of the articulated arm arrangement of Fig. 3 along the section line B-B;

Fig. 7 is a schematic sectional view of the articulated arm arrangement of Fig. 4 along the section line C-C;

Fig. 8 is a schematic perspective view of a process unit according to an exemplary embodiment of the present invention; and

Fig. 9 is a schematic front view of the process unit of Fig. 8.

Identical or functionally equivalent elements are provided with the same reference numerals in all figures.

Referring to Figs. 1 to 7, there is schematically illustrated an articulated arm assembly 100 according to an exemplary embodiment of the present invention.

The articulated arm arrangement 100 is particularly intended for use in a handling device 102. To a certain extent, the articulated arm arrangement 100 can be installed and/or mounted in the handling device 102. This can be understood, in particular, to mean that the articulated arm arrangement 100 can be part of the handling device 102.

Preferably, the handling device 102 can be used in a process unit 104 for producing a product, for example, a biological-pharmaceutical product. Such a process unit 104 is illustrated by way of example in Figs. 8 and 9.

As can be seen in Fig. 1, the joint arrangement 100 has a base device 106, a first joint arm 108 and a second joint arm 110.

The base device 106 serves for the mechanical coupling of the articulated arm arrangement 100 to a drive device 112, which can be part of the handling device 102, for example.

Furthermore, the base device 106 serves to fix and/or mount the articulated arm arrangement 100 relative to its surroundings.

The first articulated arm 108 is mounted on the base device 106 in a movable and preferably rotatable manner.

The second articulated arm 110 is mounted on the first articulated arm 108 in a movable and preferably rotatable manner.

The second articulated arm 110 can be coupled directly or indirectly to an action element 114.

In the coupled state, which is shown for example in Fig. 1, the action element 114 is movable by means of the articulated arm arrangement 100.

The action element 114 serves, for example, to produce a product, preferably a biological-pharmaceutical product.

The action element 114 is preferably used to carry out an action and/or a treatment process on an object, e.g. a product and/or an object used to manufacture the product. The action element 114 can be designed, for example, as a tool element and/or as a sensor element, each for producing a product, preferably a biological-pharmaceutical product (cf. Figs. 8 and 9).

As can be seen in particular in Fig. 1, the second articulated arm 110 can be coupled indirectly to the action element 114 and is coupled in this case.

Here, a holding member 116 is provided between the second articulated arm 110 and the action element 114.

In a sense, the joint arrangement 100 has a holding member 116.

The holding member 116 has, at an end facing away from the second articulated arm 110, a holding contour 118 for holding and preferably releasably coupling the action element 114.

The holding member 116 is mounted on the second articulated arm 110 in a movable and preferably rotatable manner.

The action element 114 can be coupled and is presently coupled to the second articulated arm 110 via the holding member 116, whereby the second articulated arm 110 can thus be indirectly coupled to the action element 114.

The action element 114 is movable by means of the articulated arm arrangement 100.

In the present case, the action element 114 is linearly movable by means of the articulated arm arrangement 100.

In a sense, the action element 114 is movable one-dimensionally by means of the articulated arm arrangement 100.

As can be seen in particular in Fig. 1, the action element 114 is movable along its longitudinal axis by means of the articulated arm arrangement 100, in a sense axially movable. The base device 106 is fixed and/or immovable with respect to an environment of the articulated arm arrangement 100.

The first articulated arm 108 is movable and in particular rotatable relative to the base device 106 and relative to the second articulated arm 110.

In a sense, the first articulated arm 108 is two-dimensionally movable.

The second articulated arm 110 is movable and in particular rotatable relative to the base device 106 and relative to the first articulated arm 108.

In a sense, the second articulated arm 110 is two-dimensionally movable.

As can be seen particularly in Figs. 1 and 3, the first articulated arm 108 is arranged between the base device 106 and the second articulated arm 110.

The holding member 116 is arranged between the first articulated arm 108 and the second articulated arm 110. In a sense, the action element 114 is thus arranged between the first articulated arm 108 and the second articulated arm 110.

As can be seen particularly in the sectional views A-A, B-B and C-C of Figs. 5 to 7, the base device 106 has a flange-like base body 120.

The base body 120 has a fixing section 122 for fixing and/or mounting the articulated arm arrangement 100 relative to its surroundings.

For example, the fixing section 122, and thus also the articulated arm assembly 100, can be fixed and/or mounted to a wall. It is conceivable that such fixing and/or mounting can be realized by means of one or more screw connections, and for this purpose, one or more threaded bores 124 (see Fig. 4) are formed in the fixing section 122.

The fixing section 122 is arranged on a side of the base device 106 facing away from the first articulated arm 108. The base device 106 further comprises a first shaft 126 for receiving a torque receivable from the drive device 112.

The first shaft 126 is mounted on the base body 120 by means of a shaft bearing device 128, for example a rolling element device.

In a sense, the first shaft 126 is connected to the base device 106 and in particular to the base body 120 of the base device 106 in a bearing manner.

The first shaft 126 is firmly connected to the first articulated arm 108 and in particular to a housing 130 of the first articulated arm 108. In the present embodiment, this is achieved by means of a screw connection.

As can be seen particularly in Fig. 7, the housing 130 of the first articulated arm 108 has a housing cover 132 and a housing base body 134, which together form the housing 130. The first shaft 126 is screwed to the housing cover 132 of the first articulated arm 108.

The torque received by the drive device 112 can be transmitted to the first articulated arm 108 via the first shaft 126. In particular, the torque received by the drive device 112 can be transmitted to the housing 130 of the first articulated arm 108 via the first shaft 126.

Furthermore, a coupling element 136 is provided on the first shaft 126 for releasably coupling the first shaft 126 to the drive device 112.

In Fig. 1, a coupled state of the coupling element 136 with the drive device 112 is shown by way of example and schematically by means of the dashed lines.

The coupling element 136 is arranged at an end region of the first shaft 126 opposite the screw connection of the first shaft 126 to the housing 130 of the first articulated arm 108.

The shaft bearing device 128 is arranged between said screw connection and said coupling element 136. The coupling element 136 is embodied as a claw coupling element. Additionally or alternatively, other coupling concepts, such as a magnetic coupling, may also be conceivable.

The drive device 112 coupled to the articulated arm arrangement 100 can be easily separated and, in particular, disassembled from the articulated arm arrangement 100 by the coupling element 136.

For example, this may be advantageous before sterilization and preferably autoclaving of the articulated arm assembly 100.

It is understood that the drive device 112 can also be easily reconnected to the articulated arm arrangement 100 in this way and, in particular, can be mounted thereon.

The base device 106 further comprises a sealing device 138.

The sealing device 138 is designed, for example, as a circular sealing element, in particular an O-ring-like sealing element.

The sealing device 138 is arranged on the fixing section 122. Preferably, the sealing device 138 is arranged in and/or on a radial edge region of the fixing section 122.

The sealing device 138 is at least partially embedded in the fixing section 122, in particular in a groove formed in the fixing section 122, whereby the sealing device 138 stands out or protrudes from the fixing section 122 with respect to the latter.

By means of the sealing device 138, a coupling region 140 of the base device 106 can be sealed from the outside with respect to the drive device 112. In this case, the coupling region 140 is formed on the fixing section 122 of the base device 106.

This can be understood in particular to mean that when the articulated arm arrangement 100 is secured and mounted, for example, on a wall via the securing section 122, the sealing device 138 rests against said wall, whereby the coupling region 140 is sealed to the outside. In a sense, the Sealing device 138 in this case is sandwiched between the fixing section 122 and the wall.

Referring to Figs. 5 to 7, the articulated arm assembly 100 further includes an electromagnetic braking device 142.

The braking device 142 is arranged between the base device 106 and the first articulated arm 108.

In particular, the braking device 142 is arranged between the base body 120 and the housing base body 134 of the first articulated arm 108.

By means of the braking device 142, a relative movement and in particular a relative rotation between the base device 106 and the first articulated arm 108 can be braked.

This can be understood in particular to mean that a movement of the first articulated arm 108 can be braked by means of the braking device 142, which (movement) can be brought about by means of the torque received from the drive device 112.

The braking device 142 has a rotor 144 and a stator 146.

The rotor 144 is fixed to the first articulated arm 108 and in particular to the housing 130 of the first articulated arm 108. For example, the rotor 144 is attached thereto by means of one or more screw connections (see Fig. 7).

The stator 146 is fixed to the base device 106 and in particular to the base body 120 of the base device 106. For example, the stator 146 is secured there by means of one or more screw connections (see Fig. 5).

The stator 146 is selectively engageable with the rotor 144 to provide a braking force.

The rotor 144 is designed as a magnetic and/or magnetizable element, in particular a permanent magnet element, and/or comprises such.

The stator 146 is designed as an electromagnet and/or includes such. The stator 146, designed as an electromagnet, has connection elements 148 for controlling the same, which can be connected directly or indirectly to a control unit, so that the said optional intervention is possible.

The braking device 142 is arranged along the first shaft 126 and the braking device 140 is arranged concentrically to the first shaft 126.

Preferably, the rotor 144 and the stator 146 are arranged along the first shaft 126 and the rotor 144 and the stator 146 are arranged concentrically with the first shaft 126.

As can be seen from the figures, the braking device 142 is essentially rotationally symmetrical. In particular, the rotor 144 and the stator 146 are essentially rotationally symmetrical.

As can be seen in particular in the sectional views A-A, B-B and C-C of Figs. 5 to 7, the first articulated arm 108 is mounted on the base device 106 and in particular on the base body 120 of the base device 106 by means of a first adjusted bearing arrangement 150.

In particular, the housing 130 of the first articulated arm 108 is mounted on the base device 106 and in particular on the base body 120 of the base device 106 by means of the first adjusted bearing arrangement 150.

The first adjusted bearing assembly 150 has a first bearing element 152 and a second bearing element 154.

The first bearing element 152 is arranged between the base body 120 of the base device 106 and the housing base body 134 of the first articulated arm 108, preferably adjacent to the fixing section 122.

The second bearing element 154 is arranged between the base body 120 of the base device 106 and the housing cover 132 of the first articulated arm 108, preferably adjacent to the screw connection of the first shaft 126 to the said housing cover 132. The first adjusted bearing arrangement 150 forms an X-arrangement which is essentially free of play.

As can further be seen in said sectional views, the second articulated arm 110 is mounted on the first articulated arm 108 and in particular on the housing 130 of the first articulated arm 108 by means of a second adjusted bearing arrangement 156.

The second engaged bearing assembly 156 includes a bearing element 158 and another bearing element 160, which are referred to herein as the third bearing element 158 and the fourth bearing element 160 for descriptive purposes.

In particular, a housing 162 of the second articulated arm 110 is mounted on the first articulated arm 108 and in particular the housing 130 of the first articulated arm 108 by means of the second adjusted bearing arrangement 156.

This can be understood in particular to mean that the second articulated arm 110 has a housing 162, which in turn has a housing cover 164, a first housing base body 166 and a second housing base body 168, which together form the housing 162.

As can be seen in Fig. 7, the first and second housing base bodies 166, 168 are firmly connected to one another, so that a torque can be directly transmitted from the first housing base body 166 to the second housing base body 168.

In a sense, the first and second housing base bodies 166, 168 are connected to one another in such a way that they can act as a single body. It is understood that, alternatively, a single housing base body can also be provided in the housing 162.

In the present case, the third bearing element 158 is arranged between the housing base body 134 of the first articulated arm 108 and the first housing base body 166 of the second articulated arm 110.

The fourth bearing element 160 is arranged between the housing cover 132 of the first articulated arm 108 and the first housing base body 166 of the second articulated arm 110. The second adjusted bearing arrangement 156 forms an X-arrangement which is essentially free of play.

Referring to Figs. 2 and 5 to 7, the base device 106 and the first articulated arm 108 are operatively connected to one another by means of a first motion transmission device 170.

As can also be seen in these figures, the first articulated arm 108 and the second articulated arm 110 are operatively connected to one another by means of a second movement transmission device 172.

The first and second motion transmission devices 170, 172 are operatively connected to one another by means of a second shaft 174 of the first articulated arm 108 and the housing 162 of the second articulated arm 110.

The second shaft 174 is fixedly connected to the first articulated arm 108, preferably by means of a screw connection. Specifically, the second shaft 174 is screwed to the housing base body 134 of the first articulated arm 108.

Furthermore, the second shaft 174 is mounted in the second articulated arm 110 and in particular in the housing 162 of the second articulated arm 110 by means of a further shaft bearing device 176.

In particular, the second shaft 174 is mounted on the housing cover 164 of the second articulated arm 110 by means of the further shaft bearing device 176.

Between said bearing of the second shaft 174 and said screw connection of the second shaft 174, the latter extends through the first and second housing base bodies 166, 168 of the second articulated arm 110.

The first motion transmission device 170 has a first rolling element 178, a first drive element 180 and a first torque transmission element 182.

The first rolling element 178 is firmly connected to the base device 106. The first drive element 180 is arranged in the first articulated arm 108 on the second shaft 174 and is operatively connected to the first rolling element 178 by means of the first torque transmission element 182.

The second motion transmission device 172 has a second rolling element 184, a second drive element 186 and a second torque transmission element 188.

The second rolling element 184 is arranged in the second articulated arm 110 on the second shaft 174.

The second drive element 186 is arranged in the second articulated arm 110 on a third shaft 190 and is operatively connected to the second rolling element 184 by means of the second torque transmission element 188.

In a sense, the second articulated arm 110 has the third shaft 190.

The third shaft 190 is mounted by means of a third adjusted bearing arrangement 192 in the second articulated arm 110 and in particular on the housing 162 of the second articulated arm 110.

The third engaged bearing assembly 192 includes a bearing element 194 and another bearing element 196, which are referred to herein as the fifth bearing element 194 and the sixth bearing element 196 for descriptive purposes.

The fifth bearing element 194 is arranged between the housing cover 162 of the second articulated arm 110 and the third shaft 190.

The sixth bearing element 196 is arranged between the second housing base body 168 of the second articulated arm 110 and the third shaft 190.

The third adjusted bearing arrangement 192 forms an X-arrangement which is essentially free of play.

Here, the third shaft 190 is arranged on a coupling region 198 of the second articulated arm 110 relative to the action element 114 which can be coupled to the second articulated arm 110 and is coupled in this case via the holding member 116. In this case, the holding member 116 is firmly connected to the third shaft 190 by means of a screw connection. In other words, the holding member 116 is screwed to the third shaft 190.

The second drive element 186 arranged on the third shaft 190 is operatively connected to the second rolling element 184 by means of the second torque transmission element 188.

The first and second torque transmission elements 182, 188 are each designed as a belt element.

The first and second torque transmission elements 182, 188 or at least their respective surfaces comprise and/or are made of a particularly temperature-resistant lubricant, preferably silicone.

The first motion transmission device 170 and in particular the first rolling element 178 and the first drive element 180 of the first motion transmission device 170 are fixed in the articulated arm arrangement 100 by means of a respective force-lock-based fastening device 200.

Furthermore, the second motion transmission device 172 and in particular the second rolling element 184 and the second drive element 186 of the second motion transmission device 172 are fixed in the articulated arm arrangement 100 by means of a respective force-lock-based fastening device 200.

Preferably, the first rolling element 178 is fixed to the base body 120 of the base device 106 by means of one of the said fastening devices 200.

The first drive element 180 is fixed to the first housing base body 166 of the second articulated arm 110 by means of one of the said fastening devices 200.

The second rolling element 184 is fixed to the second shaft 174 by means of one of the said fastening devices 200. The second drive element 186 is fixed to the third shaft 190 by means of one of said fastening devices 200.

Here, the respective fastening devices 200, which are assigned to the first rolling element 178 and the second drive element 186, are designed as a clamping set and/or as a taper bushing.

The respective fastening devices 200, which are assigned to the first drive element 180 and the second rolling element 184, are designed as a shaft-hub connecting device.

As a result, the components secured in this manner, in particular the respective rolling elements 178, 184 and/or the respective drive elements 180, 186, can advantageously be continuously adjustable, in particular with regard to their orientation and/or mounting position. This ultimately preferably allows a precise and/or adjustable movement of the action element 114, which is or can be coupled to the second articulated arm 110.

Furthermore, the first motion transmission device 170 has a first clamping device 202.

By means of the first clamping device 202, the first torque transmission element 182 of the first motion transmission device 170 can be clamped to reduce play and/or minimize wear.

For this purpose, the first tensioning device 202 is pivotally attached to the housing 130 of the first articulated arm 108 and is pretensioned against the first torque transmission element 182 by means of an elastic element not shown in the figures.

The first torque transmission element 182 can be tensioned inward relative to the first articulated arm 108 by means of the first tensioning device 202. This enables a compact design of the first articulated arm 108.

Furthermore, the second movement transmission device 172 has a second clamping device 204. By means of the first clamping device 204, the second torque transmission element 188 of the second motion transmission device 172 can be clamped to reduce play and/or minimize wear.

For this purpose, the second tensioning device 204 is pivotally attached to the housing 162 of the second articulated arm 110 and is pretensioned against the second torque transmission element 188 by means of an elastic element not shown in the figures.

The second torque transmission element 188 can be tensioned inward relative to the second articulated arm 110 by means of the second tensioning device 204. This enables a compact design of the second articulated arm 110.

As can be seen from the figures, in the present exemplary embodiment, the first rolling element 178 of the first motion transmission device 170 has a larger diameter than the first drive element 180 of the first motion transmission device 170, which is operatively connected thereto.

The second rolling element 184 of the second motion transmission device 172 has a smaller diameter than the first drive element 180 of the first motion transmission device 170, which is operatively connected thereto.

The second drive element 186 of the second motion transmission device 172 has a larger diameter than a second rolling element 184 of the second motion transmission device 172 that is operatively connected thereto.

The articulated arm assembly 100 is sealable or sealed from its surroundings. This allows for cleaning and sterilization, and preferably autoclavability.

For this purpose, the housing 130 of the first articulated arm 108 is sealed to the outside.

Furthermore, the housing 162 of the second articulated arm 110 is sealed to the outside.

A first sealing element 206, which in the present case is designed as a radial shaft sealing ring, is provided between the base device 106 and the first articulated arm 108 for sealing a transition between the same. Specifically, the first sealing element 206 is arranged between the base body 120 and the housing base body 134 of the first articulated arm 108.

A second sealing element 208, which in the present case is designed as a radial shaft sealing ring, is provided between the first articulated arm 108 and the second articulated arm 110 for sealing a transition between them.

Specifically, the second sealing element 208 is arranged between the housing cover 132 of the first articulated arm 108 and the second housing base body 168 of the second articulated arm 110.

A third sealing element 210, which in this case is designed as a radial shaft sealing ring, is provided on the coupling region 198 of the second articulated arm 110 for sealing a transition between the second articulated arm 110 and the holding member 116.

Specifically, the third sealing element 210 is arranged between the second housing base body 168 of the second articulated arm 110 and the holding member 116.

In addition, a fourth sealing element 212 is arranged between the base body 120 of the base device 106 and the first shaft 126 for sealing a transition between them.

By means of the provided articulated arm arrangement 100, for example, linear movements of the action element 114 can be generated without requiring linear relative movements of components, whereby in particular repeatability and/or precision can be improved.

Furthermore, an articulated arm arrangement 100 is provided in the manner described, which is autoclavable and can thus be used in germ-sensitive environments, such as in the biological-pharmaceutical sector.

Furthermore, the simple construction of the articulated arm arrangement 100 provides very good cleanability, particularly in view of the fact that the articulated arm arrangement 100 and in particular its components have a hygienic design, in particular criteria of a hygienic design, for example with regard to a minimized number of undercuts, which optimizes cleanability.

Furthermore, the provided articulated arm arrangement 100 has a compact design due to its configuration, so that installation in limited space is possible.

In addition, the use of belt drives and/or play-free bearings in the provided articulated arm arrangement 100 can ensure high accuracy, since the articulated arm arrangement 100 can thereby be free from counter-shock, for example.

Furthermore, the provided articulated arm arrangement 100 can be mounted both in a vertical and/or horizontal installation position, in particular on a wall of, for example, a process unit 104.

In the following, a possible exemplary operation of the articulated arm arrangement 100 will be described, assuming that the drive device 112 is coupled to the first shaft 126 by means of the coupling element 136:

By means of the drive device 112, a torque is transmitted to the first shaft 126, causing it to rotate.

Since the first shaft 126 is firmly connected to the housing 130 of the first articulated arm 108, the first articulated arm 108 rotates accordingly.

The second articulated arm 110 is driven by means of the second shaft 174 fixed to the housing 130 of the first articulated arm 108 and its housing 162.

Due to the first motion transmission device 170, a relative rotation of the second articulated arm 110 with respect to the first articulated arm 108 occurs.

This relative rotation of the second articulated arm 110 is opposite to the rotation of the first articulated arm 108. By providing the third shaft 190 in the housing 162 of the second articulated arm 110, the holding member 116 fixed to the third shaft 190 is accordingly driven by the said rotation.

Due to the second movement transmission device 172, a relative rotation of the holding member 116 with respect to the second articulated arm 110 and the first articulated arm 108 occurs.

This relative rotation of the holding member 116 is opposite to the rotation of the second articulated arm 110.

This allows the holding member 116 and thus the action element 114 held thereon to be linearly movable. According to the illustration in Figs. 1 to 7, this would be a vertical linear movement.

A direction of travel of the action element 114 is dependent on the direction of rotation of the first shaft 126.

By means of the braking device 142, a movement and preferably a rotation of the first articulated arm 108 can be braked, whereby the entire articulated arm arrangement 100 can be braked, in particular due to its movement transmission devices 170, 172.

Referring to Fig. 1, a handling device 102 according to an exemplary embodiment of the present invention is further provided.

The handling device 102 is for use in a process unit 104 for producing a product.

The handling device 102 has an articulated arm arrangement 100 of Figs. 1 to 7.

It should therefore be understood that all structural and/or functional features associated with the articulated arm assembly 100 according to the invention and its embodiments described above and/or below can also be included in said handling device 102, either alone or in combination. and the associated properties, configurations and/or advantages can also be included and achieved accordingly.

The handling device 102 has said drive device 112 for providing a torque.

The drive device 112 is coupled, in particular mechanically, to the articulated arm arrangement 100 via the base device 106.

In particular, the drive device 112 is mechanically coupled to the articulated arm arrangement 100 via the first shaft 126 and by means of the coupling element 136.

Furthermore, the handling device 102 has a guide device 214.

The action element 114, which can be coupled to the second articulated arm 110 or is coupled in the present case, can be guided linearly via the guide device 214.

For example, the guide device 214 can be designed as a type of assembly aid for defining a mounting position of the action element 114, for example with respect to a linear alignment and/or in a process unit 104.

Referring to Figs. 8 and 9, a process unit 104 according to an exemplary embodiment of the present invention is schematically illustrated.

The process unit 104 serves to produce a product, in particular a biological pharmaceutical product.

As can be seen in Figs. 8 and 9, the process unit 104 has two articulated arm assemblies 100 according to further embodiments.

These articulated arm assemblies 100 according to further embodiments are essentially configured and designed like the articulated arm assembly 100 shown in Figs. 1 to 7, so that only the differences in this regard are described below.

The respective articulated arm arrangements 100 are in the present case part of a respective handling device 102, which has already been described. It should therefore be understood that all structural and/or functional features associated with the articulated arm assembly 100 and/or handling device 102 according to the invention and their respective embodiments can also be included in the said process unit 104 either alone or in combination and the associated properties, configurations and/or advantages can also be included and achieved accordingly.

In the present case, a respective coupling region 198 of the respective second articulated arm 110 is arranged on a side of the respective second articulated arm 110 facing away from the respective first articulated arm 108, relative to the action element 114 which can be coupled to the second articulated arm 110 via the respective holding member 116 or is coupled in the present case.

In a sense, the respective coupled or coupleable action element 114 can be arranged or is arranged on a side of the respective second articulated arm 110 facing away from the respective first articulated arm 108.

This can be understood in particular to mean that, starting from the base device 106, the first articulated arm 108 is arranged next, then the second articulated arm 110 and then the holding member 116 with the action element 114 held thereon.

With reference to the orientation of the illustration shown in Figs. 8 and 9, the right joint assembly 100 essentially corresponds to the joint assembly 100 described so far (except for the differences described herein). Furthermore, the left joint assembly 100 and the right joint assembly 100 differ, in particular, in that the left joint assembly 100 has been rotated about a reversal point of the joint assembly 100, resulting in the initial position of the left joint assembly 100 shown in Figs. 8 and 9. This may enable a space-saving installation of the two joint assemblies 100 in the process unit 104.

The process unit 104 has an interior space 218 formed by a wall 216, in which the articulated arm arrangements 100 are arranged.

The wall 216 forms a plurality of side surfaces of the interior 218 and/or the process unit 104, preferably a front surface, a rear surface, an upper surface, a lower surface and/or a first and a second opposite, lateral surface. For example, a wall section of the wall 216 can be assigned or associated with each of said surfaces.

The wall 216 is thermally insulating, preferably with respect to an environment of the process unit 104.

A respective attachment portion 122 of the respective base devices 106 is secured and mounted to the wall 216. As shown in Figs. 8 and 9, this may preferably be done on the rear surface.

The process unit 104 has an opening device, not shown in the figures, for enabling opening of the interior space 218.

By means of the opening device, access to the interior space is possible via said opening. It is understood that the opening device can additionally or alternatively enable closing of the interior space 218.

The opening device has an opening element for opening and closing the interior space 218, which is associated with a wall section of the wall 216.

In the present case, this wall section can be assigned to the front surface, which has been omitted from the figures for illustrative purposes in order to show the interior of the processing unit 104.

For example, the articulated arm arrangement 100 can be fed into the interior space 218 of the process unit 104 via the said opening device and can then be mounted in the interior space 218, preferably on the said wall 216.

A preferably aseptic production area can be defined or is defined and/or formed by the interior space 218 of the process unit 104. In a sense, the interior space 218 of the process unit 104 is a preferably aseptic production area.

The process unit 104 further comprises two access devices 220 for enabling access to the interior 218. As can be seen in Figs. 8 and 9, a respective action element 114 coupled to the second articulated arm 110 can be positioned or is positioned by means of the articulated arm arrangement 100 with respect to the respectively associated access device 220.

A respective access device 220 of the process unit 104 can enable access to the particularly aseptic production area of the process unit 104, which can be defined or is defined and/or formed by the interior space 218.

The respective action element 114 coupled to the respective second articulated arm 110 is movable in the interior 218 by means of the articulated arm arrangement 100 and, when access is enabled via the respective associated access device 220, is movable at least partially out of the interior 218.

A respective access device 220 has a door element 222 which is arranged on and/or adjacent to the wall 216 in the interior space 218 and which serves to open and close an access opening 224 formed in the wall 216 to the interior space 218.

The door element 222 can be moved, for example pivoted, in the direction of the interior 218 for opening and back again for closing.

Furthermore, the process unit 104 has a further interior space which is arranged adjacent to the interior space 218 and is spatially separated from the interior space 218.

The further interior space and the interior space 218 are separated from each other by a part of the wall 216, for example, a wall section. In this case, this is the wall section that can be assigned to the rear surface to which the articulated arm assembly 100 is attached.

The further interior space serves to receive and accommodate, in particular, temperature-sensitive and/or moisture-sensitive components, such as drive devices 112, motors, circuit boards, etc., which can be or are assigned to, for example, the articulated arm arrangement 100 and/or the handling device 102 and/or the opening device and/or the access device 220. In a sense, the rest of the interior is a kind of technical box 226.

This technology box 226 is, for example, removable before autoclaving the remaining process unit 104 and/or is insulated and/or cooled, in particular passively or actively cooled, in such a way that the said sensitive components are not damaged when the interior 218 is autoclaved.

In the present case, the drive devices 212 of the respective articulated arm arrangements 100 or the handling devices 102 are arranged in the technology box 226.

Here, the respective first shaft 126 of the respective articulated arm arrangements 100 extends through the wall 216 separating the technology box 226.

By having a respective articulated arm arrangement 100 with a respective sealing device 138, a sealing of the technology box 126 with respect to the interior space 218 is ensured.

The process unit 104 can, for example, be designed as a treatment box, e.g. a patient box, in particular for receiving and/or transporting and/or treating an object.

The process unit 104 can, for example, be designed as a tool box, in particular for treating an object, which can in particular comprise a tool unit, in particular for treating the object and/or a sensor unit, in particular for analyzing the object.

The process unit 104 can, for example, be designed as a supply box, in particular for providing a material, e.g. a consumable material, and/or a substance which may be required for the treatment of an object.

A said tool unit can, for example, have an action element 114 designed as a tool element and/or such an element can be assigned or assignable to the tool unit. For example, a sensor unit may have an action element 114 designed as a sensor element and/or such an action element may be assigned or assignable to the sensor unit.

A said object can, for example, comprise at least one of the following: a reactant, in particular a material comprising cells, for example a starting material comprising cells, and/or a biological-pharmaceutical material and/or a biological-pharmaceutical workpiece, an intermediate product, in particular an intermediate product comprising cells and/or a biological-pharmaceutical intermediate product, a product, for example the product to be manufactured, in particular a biological-pharmaceutical product, for example the biological-pharmaceutical product to be manufactured, a consumable, for example a fluid and/or a component obtained or obtainable from a fluid.

It should be understood that the above list is exemplary and not exhaustive. Alternatively or additionally, the object may include one or more and/or a combination of the previously described enumeration elements.

The respective action element 114 serves in the present case for the production of a product, preferably a biological-pharmaceutical product.

The respective action element 114 serves in particular to carry out an action and/or a treatment process on such an object, e.g. a product and/or an object used to manufacture the product.

The action element 114 is designed here as a tool element.

The left action element 114 is designed, for example, as a supply element by means of which a consumable, in particular a fluid, can be dispensed.

The right action element 114 is designed, for example, as a discharge element by means of which a consumable, in particular a fluid, can be absorbed.

Both action elements 114 are tubular, for example as hollow needles or injection needles or hose elements or tube elements. In the present embodiment, the process unit 104 also has a syringe device 228.

The syringe device 228 is at least partially designed as an exchangeable module which can be optionally installed and/or removed from the process unit 104.

The syringe device 228 is fluidically arranged between the action elements 114.

The syringe device 228 comprises a syringe element 230, a valve 232 designed as a 3-way valve and an actuating actuator 234.

The left action element 114 is fluidically connected to the valve 232 and the right action element 114 is fluidically connected to the valve 232.

Furthermore, the syringe element 230 is fluidly connected to the valve 232.

The valve 232 is fluidically arranged upstream of the syringe element 230 for switching a fluid path relative to the syringe element 230 and in particular a fluid path between the left and right action elements 114.

For example, by means of the valve 232, fluid intake into the syringe element 230 is possible via the left or right action element 114 depending on a switching state of the valve 232.

For example, by means of the valve 232, a fluid discharge from the syringe element 230 via the left or right action element 114 is possible depending on a switching state of the valve 148.

By means of the actuating actuator 234, the syringe element 230 can be actuated and, in particular, can be pulled open to take up fluid in the syringe element 230 and compressed to discharge fluid from the syringe element 230.

To a certain extent, depending on the switching state of the valve 232 and/or actuation of the syringe element 230, fluid can flow into the left or right action element 114 for fluid intake or flow out again for fluid discharge by means of the actuation actuator 234. A respective drive unit of the valve 232 and the actuating actuator 234 for the respective actuation thereof are further arranged in the technology box 226.

In the present embodiment, the process unit 104 can be coupled to further process units 236 by means of coupling devices provided on the process units 104, 236.

For example, Figs. 8 and 9 show a coupled state of the processing unit 104 with two further processing units 236.

The further process units 236 may, for example, have fluid containers with and/or without fluid in their respective interiors.

If access to the respective interior spaces of the process units 104, 236 is enabled, the respective action elements 114 can be moved by means of the respective articulated arm arrangements 100 into the respective interior spaces and preferably the fluid containers of the further process units 236 for fluid conveyance and can be moved out again after the fluid conveyance has taken place.

It can be provided that the process unit 104 comprises a control unit which is in particular designed and programmed to at least partially or completely regulate and/or control the process unit 104.

It is understood that it can be provided that the respective articulated arm arrangement 100 and/or the handling device 102 can be controllable with the said control unit.

It is further understood that the process unit 104 may comprise an energy storage device, in particular for power supply, and/or may be connectable to such a device for power supply. Preferably, the articulated arm arrangement 100 and/or the handling device 102 may be supplied with power in this way. List of reference symbols

Articulated arm arrangement

Handling device

Process unit

Base device first articulated arm second articulated arm

drive device

Action element

holding link

Holding contour

Basic body

Determination section

Threaded hole first shaft

Shaft bearing device

Housing of first articulated arm

Housing cover of first articulated arm

Housing body of first articulated arm

coupling element

Sealing device

Coupling area of base device

braking device

rotor

Stator

Connecting element first adjusted bearing arrangement first bearing element second bearing element second adjusted bearing arrangement third bearing element fourth bearing element

Housing of second articulated arm

Housing cover of second articulated arm first housing base body of second articulated arm second housing base body of second articulated arm first motion transmission device second motion transmission device second shaft further shaft bearing device first rolling element first drive element first torque transmission element second rolling element second drive element second torque transmission element third shaft third adjusted bearing arrangement fifth bearing element sixth bearing element

Coupling area

Fastening device first clamping device second clamping device first sealing element second sealing element third sealing element fourth sealing element

Guide device

Wall of process unit

Interior of process unit

Access facility

door element

Access opening

Technology box

Syringe device

syringe element

valve

Actuator system, additional process unit

Claims

Patent claims 1. Articulated arm arrangement (100) for a handling device (102), in particular a handling device (102) for use in a process unit (104) for producing a product, wherein the articulated arrangement (100) comprises: a base device (106) for, in particular, mechanically coupling the articulated arm arrangement (100) to a drive device (112); a first articulated arm (108) which is mounted on the base device (106) so as to be movable and, in particular, rotatable; and a second articulated arm (110) which is mounted on the first articulated arm (108) so as to be movable and, in particular, rotatable, wherein the second articulated arm (110) can be coupled to an action element (114), in particular for producing a product, wherein the action element (114) can be moved by means of the articulated arm arrangement (100). 2. Articulated arm arrangement (100) according to claim 1, characterized in that the base device (106) has a particularly flange-like base body (120) and a first shaft (126) for receiving a torque that can be received from the drive device (112), wherein the first shaft (126) is mounted on the base body (120) and the torque that can be received from the drive device (126) can be transmitted to the first articulated arm (108) by means of the first shaft (126), wherein it is preferably provided that a) the first shaft (126) is fixedly connected to the first articulated arm (108), and in particular to a housing (130) of the first articulated arm (108); and/or b) a coupling element (136) is provided on the first shaft (126) for releasably coupling the first shaft (126) to the drive device (112), wherein in particular the coupling element (136) is designed as a claw coupling element and/or as a magnetic coupling element. 3. Articulated arm arrangement (100) according to one of the preceding claims, characterized in that the articulated arm arrangement (100) has a braking device (142), in particular an electromagnetic one, which is arranged between the base device (106) and the first articulated arm (108) and by means of which a relative movement and in particular a relative rotation between the base device (106) and the first articulated arm (108) can be braked. 4. Articulated arm arrangement (100) according to claim 3, characterized in that the braking device (142) comprises: a rotor (144) which is fixed to the first articulated arm (108), and in particular to a housing (130) of the first articulated arm (108); and a stator (146) which is fixed to the base device (106), and in particular to a base body (120) of the base device (106), wherein the stator (146) can be selectively brought into engagement with the rotor (144) to provide a braking force, wherein it is preferably provided that the rotor (144) has at least one magnetic and/or magnetizable element, in particular a permanent magnet element, and the stator (146) has at least one electromagnet. 5. Articulated arm arrangement (100) according to one of the preceding claims, characterized in that the first articulated arm (108), and in particular a housing (130) of the first articulated arm (108), is mounted on the base device (106), and in particular a base body (120) of the base device (106), by means of a first adjusted bearing arrangement (150); and/or the second articulated arm (110), and in particular a housing (162) of the second articulated arm (110), is mounted on the first articulated arm (108), and in particular a housing (130) of the first articulated arm (108), by means of a second adjusted bearing arrangement (156). 6. Articulated arm arrangement (100) according to one of the preceding claims, characterized in that the base device (106) and the first articulated arm (108) are operatively connected to one another by means of a first movement transmission device (170) and the first articulated arm (108) and the second articulated arm (110) are operatively connected to one another by means of a second movement transmission device (172), wherein the first and the second movement transmission device (170, 172) are operatively connected to one another by means of a second shaft (174) and a housing (162) of the second articulated arm (110), wherein the second shaft (174) is connected to the first Articulated arm (108) is firmly connected and is mounted in the second articulated arm (110), and in particular in the housing (162) of the second articulated arm (110). 7. Articulated arm arrangement (100) according to claim 6, characterized in that the first movement transmission device (170) has a first rolling element (178), a first drive element (180) and a first torque transmission element (182), wherein the first rolling element (178) is fixedly connected to the base device (106), the first drive element (180) is arranged in the first articulated arm (108) on the second shaft (174) and is operatively connected to the first rolling element (178) by means of the first torque transmission element (182); and/or the second movement transmission device (172) has a second rolling element (184), a second drive element (186) and a second torque transmission element (188), wherein the second rolling element (184) is arranged in the second articulated arm (110) on the second shaft (174), the second drive element (186) is arranged in the second articulated arm (110) on a third shaft (190) which is provided on a coupling region (198) of the second articulated arm (110) relative to the action element (114) which can be coupled to the second articulated arm (110), wherein the second drive element (186) is operatively connected to the second rolling element (184) by means of the second torque transmission element (188), wherein it is preferably provided that a) the first torque transmission element (182) is designed as a belt element and/or as a chain element; and/or b) the second torque transmission element (188) is designed as a belt element and/or as a chain element; and/or c) the first torque transmission element (182) or at least its surface comprises a particularly temperature-resistant lubricant, preferably silicone; and/or d) the second torque transmission element (188) or at least its surface comprises a particularly temperature-resistant lubricant, preferably silicone. 8. Articulated arm arrangement (100) according to claim 6 or 7, characterized in that the first and/or the second movement transmission device (170, 172), and in particular a respective rolling element (178, 184) and/or a respective drive element (180, 186) of the first and/or the second Movement transmission device (170, 172), are fixed in the articulated arm arrangement (100) by means of one or more friction-based fastening devices (200), wherein it is preferably provided that one or more of the friction-based fastening devices (200) is designed as a clamping set and/or as a taper bushing and/or comprises such a component. 9. Articulated arm arrangement (100) according to one of claims 6 to 8, characterized in that the first motion transmission device (170) has a first tensioning device (202) by means of which a first torque transmission element (182) of the first motion transmission device (170) can be tensioned to reduce play and/or minimize wear; and/or the second motion transmission device (172) has a second tensioning device (204) by means of which a second torque transmission element (188) of the second motion transmission device (172) can be tensioned to reduce play and/or minimize wear. 10. Articulated arm arrangement (100) according to one of claims 6 to 9, characterized in that a first rolling element (178) of the first motion transmission device (170) has a larger diameter than a first drive element (180) of the first motion transmission device (170) that is operatively connected thereto; and/or a second rolling element (184) of the second motion transmission device (172) has a smaller diameter than a first drive element (180) of the first motion transmission device (170) that is operatively connected thereto; and/or a second drive element (186) of the second motion transmission device (172) has a larger diameter than a second rolling element (184) of the second motion transmission device (172) that is operatively connected thereto. 11. Articulated arm arrangement (100) according to one of the preceding claims, characterized in that a housing (130) of the first articulated arm (108) is sealed to the outside; and/or a housing (162) of the second articulated arm (162) is sealed to the outside; and/or a first sealing element (206), in particular a radial shaft sealing ring, is provided between the base device (106) and the first articulated arm (108) for sealing a transition between them; and/or a second sealing element (208), in particular a radial shaft sealing ring, is provided between the first articulated arm (108) and the second articulated arm (110) for sealing a transition between them; and/or a third sealing element (210), in particular a radial shaft sealing ring, is provided on a coupling region (198) of the second articulated arm (110) relative to the action element (114) that can be coupled to the second articulated arm (110) for sealing a transition between them. 12. Articulated arm arrangement (100) according to one of the preceding claims, characterized in that the joint arrangement (100) has a holding member (116) which is mounted on the second articulated arm (110) in a movable and in particular rotatable manner and via which the action element (114) can be coupled to the second articulated arm (110), wherein it is preferably provided that the holding member (116) is mounted on and/or in a coupling region (198) of the second articulated arm (110) in a movable and in particular rotatable manner. 13. Articulated arm arrangement (100) according to one of the preceding claims, characterized in that the base device (106) has at least one sealing device (138) by means of which a coupling region (140) of the base device (106) can be sealed to the outside with respect to the drive device (112), wherein it is preferably provided that the at least one sealing device (138) is designed as a circular sealing element, in particular an O-ring-like sealing element, and/or comprises such a sealing element. 14. Handling device (102), in particular for use in a process unit (104) for manufacturing a product, wherein the handling device (102) comprises: an articulated arm arrangement (100) according to one of the preceding claims; and a drive device (112) for providing a torque, wherein the drive device (112) is coupled, in particular mechanically, to the articulated arm arrangement (100) via the base device (106), wherein it is preferably provided that the handling device (102) has a guide device (214) via which an action element (114) that can be coupled or is coupled to the second articulated arm (110) can be guided at least linearly. 15. Process unit (104) for producing a product, in particular a biological pharmaceutical product, comprising: an interior space (218) formed by a wall (216); and an articulated arm arrangement (100) according to one of claims 1 to 13 arranged in the interior space (218) and/or a handling device (102) according to claim 14, the articulated arm arrangement (100) of which is arranged in the interior space (218).