EP2279122A1 - Gripping device for picking up containers and closures and for closing the containers - Google Patents
Gripping device for picking up containers and closures and for closing the containersInfo
- Publication number
- EP2279122A1 EP2279122A1 EP09733978A EP09733978A EP2279122A1 EP 2279122 A1 EP2279122 A1 EP 2279122A1 EP 09733978 A EP09733978 A EP 09733978A EP 09733978 A EP09733978 A EP 09733978A EP 2279122 A1 EP2279122 A1 EP 2279122A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- container
- closure
- gripping device
- receptacle
- containers
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000004519 manufacturing process Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 239000012212 insulator Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000011261 inert gas Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B1/00—Closing bottles, jars or similar containers by applying stoppers
- B67B1/04—Closing bottles, jars or similar containers by applying stoppers by inserting threadless stoppers, e.g. corks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B7/00—Closing containers or receptacles after filling
- B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
- B65B7/28—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers
- B65B7/2821—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers applying plugs or threadless stoppers
Definitions
- Gripping device for receiving containers and closures and for closing the
- the present invention relates to a gripping device for receiving containers and closures and for closing the container, which makes it possible to make a production process flexible.
- the gripping device according to the invention with the features of claim 1 has the advantage that it is inexpensive to produce due to a simple structure. This allows a flexible and economical production of the gripping device for various containers and closures. Furthermore, the gripping device is designed as a module and thus forms a closed modular component of a production chain. This modularity allows a flexible variation of the gripping device without the production chain before or after the gripping device to have to change. In addition, the design of the gripping device as a module enables the entire gripping device to be moved within the production chain during the closing operation. This saves both production time and a production step, which is provided only for the transport of the container, integrated into the closing process.
- the gripping device comprises a Be fiscaleraufhahme and a closure receptacle.
- the invention provides that the Be fiscaleraufhahme can keep a filled container or bottle safely.
- the VerInstitutaufhahme is provided for holding the closure.
- a connecting element according to the invention integrates the closure receptacle into the receptacle receptacle and on the other hand enables a relative movement between container receptacle and receptacle receptacle. This relative movement serves to place the closure on the container.
- the construction according to the invention allows the gripping device to receive a container, for example, from a filling station.
- a provided closure is received by the closure receptacle.
- the gripping device moves after and / or during the Aufhahmepor réelle to a position in the production chain, at which the closed containers are turned off. That is, the gripping device conveys the containers within the production chain. During this transport, the gripper performs the relative movement between the container receptacle and the receptacle and seals the container with the closure. Thus, the container is transported and sealed simultaneously.
- the connecting element comprises a guide element.
- This guide element performs the relative movement between Be fiscaleraufhahme and VerMitteraufhahme and thus allows the precise fit placing the closure on the container.
- the embodiment of the guide element as a linear guide element to set the closures linearly on the Be memorizeröffhung. This prevents, for example, a plug tilt during insertion into the Be memorizeröffhung.
- the linear guide element preferably comprises at least a rod, wherein the relative movement is guided by this rod.
- a shape of the rod is both a hollow as well as full cylinder as well as an edged profile conceivable.
- the closure receptacle advantageously comprises a closure tow-away unit. This allows the gripping device, while being moved in the production chain and thus towed without delay, a provided closure.
- the closure tow unit comprises a pocket-integrated area.
- the shape and dimensions of the bag correspond to the outer dimensions of the closure. Through a linear or arcuate opening of the bag, the gripping device, while being moved, can receive a closure in the pocket.
- intake openings are formed on the container receptacle and / or closure receptacle.
- the invention provides for the intake openings of the container receptacle and the closure receptacle to be supplied independently with negative pressure in each case.
- the negative pressure at one opening is independent of a possible pressure increase at the other opening. If, for example, the closure receptacle does not receive a closure due to a malfunction, or if the closure is released from the receptacle, the pressure at the suction opening of the closure receptacle rises.
- the negative pressure at the intake opening of the container receptacle remains constant and the container does not come loose from the gripping device. This securing of the container by the separate vacuum supply is particularly advantageous when the contents of the container in the case - A - Pouring could damage the surrounding machinery or harm people.
- the container receptacle is not moved relative to the gripping device and unnecessary acceleration of the contents of the container is avoided. This prevents e.g. the spilling over of a liquid content.
- the lowering is operated pneumatically.
- a use of the negative pressure described above is conceivable.
- the drive of the relative movement is not limited to pneumatic and a mechanical or hydraulic drive is also conceivable.
- the invention provides that the gripping device can accommodate at least two containers and, accordingly, at least two closures.
- the gripping device can be adapted to the timing of the production chain, and the efficiency of the production can be optimized.
- a shape of the container receptacle is formed corresponding to the container, which ensures a positive reception of the container. This positive connection can either improve the grip of the container in combination with the suction device or replace the suction device.
- a plug as a closure.
- a cost-effective rubber stopper with the gripping device according to the invention are pressed into the container.
- a handling unit for receiving containers and closures and for closing the containers comprises at least one gripping device according to the invention.
- the handling unit can move the gripping device within the production chain from the receptacle positions for containers and closures to the stop position for sealed containers.
- the handling unit may include the vacuum sources for the suction of the containers and closures and the pressure source for the pneumatically driven closing operation.
- the handling unit also forwards pressure and vacuum supply to an external source to the gripping device.
- a freely programmable robot or robot arm as a handling unit. The robot allows a flexible design of the movement sequence of the gripping device within a production chain.
- the handling unit within an insulator, wherein the insulator is arranged like a hood element on the gripping device.
- the insulator is arranged like a hood element on the gripping device.
- the gripping device and the handling unit in the pharmaceutical industry. Particularly in the field of small and medium batches, the gripping device according to the invention and the handling unit according to the invention offer a new possibility for the flexible design of the production chain.
- Figure 1 is a perspective view of a gripping device according to a
- Figure 2 is a side view of the gripping device according to the
- Figure 3 is a schematic representation of the plan view of a pharmaceutical
- the gripping device 1 of the exemplary embodiment is used with a handling unit 81 within a pharmaceutical system 8.
- the gripping device 1 comprises a container receptacle 2, a closure receptacle 3 and connecting elements 6. As described in connection with the pharmaceutical plant 8 of Figure 3, this gripping device 1 can accommodate two containers 4 and two closures 5 and this transport. During transport, the two containers 4 are closed with the closures 5. It should be noted that, depending on the required output of the pharmaceutical plant 8, the gripping device 1 according to the invention for only one or more than two containers 4 executable. Furthermore, the invention is not limited to the use of round, bottle-shaped container 4. The use of kantiger bottles, cups or containers is provided according to the invention.
- FIG. 1 Shown in Figure 1 is the left bottle-shaped container 4, which comprises a container body 41, a container neck 42 and a container collar 43.
- the container body 41 tapers to the container neck 42 and the container neck 42 widens to the container collar 43, which surrounds an opening of the container 4.
- two closures 5 which are designed as rubber stoppers 5.
- Each of these rubber stoppers 5 comprises a cylindrical plug collar 51 and a taper 52, which is dimensioned according to the opening of the container 4.
- the rubber stoppers 5 are particularly suitable for the safe airtight sealing of container 4, which are filled with pharmaceutical substances.
- the execution of the closures 5 as a rubber stopper 5 is exemplary.
- the execution of the closures 5 as caps, screw caps or plugs of any material is particularly suitable.
- the container receptacle 2 holds the bottle-shaped container 4 at two different areas of the container 4 by means of a first form-fitting contour 22 and a second form-fitting contour 23.
- the arc-shaped second form-fitting contour 23 surrounds the cylindrical container body 41.
- slightly more than half the circumference of the container body 41 of the second positive locking contour 23 embraced.
- the first arcuate form-fitting contour 22 engages around the container neck 42 directly below the container collar 43.
- the first positive-locking contour 22 forms two positive-fit holders for the container 4.
- the container collar 43 rests on the container holder 2 and slippage of the container 4 downwards is avoided
- Second, the first positive locking contour 22 surrounds the container neck 42 by slightly more than half its circumference.
- the first positive-locking contour 22 thus preferably clamps the container 4. According to the invention, it can also be provided to form only one of the two positive locking contours 22, 23. Furthermore, an adaptation of the form-fitting contours 22, 23 to container shapes which deviate from the shape of the illustrated container 4 is provided according to the invention.
- the closure receptacle 3 is designed in the form of a plate 32.
- This plate 32 comprises two closure tow units 31 in the form of a milled, arcuate opening 33 and a pocket 35. Both of these arcuate openings 33 open into a pocket 35.
- the towing function of the closure tow unit 31 will be described in connection with FIG. FIG. 1 shows how the rubber stoppers 5 are held in a form-fitting manner by the pockets 35 at the level of the plug collars 51.
- the connecting element 6, which connects the container receptacle 2 with the closure receptacle 3, in this exemplary embodiment comprises two linear guide elements 64 and a pneumatic cylinder 61.
- the pneumatic cylinder 61 will be explained in connection with the explanations relating to FIG.
- the two linear guide elements 64 are designed as cylindrical rods which are fixedly connected to the plate 32.
- the two Lmear Adjustselement 64 are accurately guided in two through holes 24. These through holes 24 form at the bottom of the Be bacheloreraufhahme 2 each have an opening. It is advantageous to lower the rubber stoppers 5 onto the containers 4 and not to unnecessarily move the contents of the containers 4. However, it is also possible to lift the Be bacheloreraufhahme 2 to perform the relative movement 11.
- the gripping device 1 has four intake ports 21, 34.
- a first Ansaugöffhung 21 per container 4 and in the VerInstitut Stammhahme a second Ansaugöffhung 34 per closure 5 in the Be bacheloreraufhahme 2.
- the two first Ansaugöffhungen 21 are designed as a bore in the second positive locking contour 23 and are thus at the level of the container body 41.
- the two second suction opening 34 is located in the pockets 35 above the plug collars 51.
- the gripping device may also include a patch sucker for sucking the container 4 and rubber stoppers 5. The supply of the gripping device 1 with negative pressure will be described below with reference to FIG.
- the vacuum suction 21 and the positive clamping 22, 23 of the container 4 are also applicable alternatively.
- the containers 4 can be fixed to the container receptacle 2 either only via one of the positive-locking contours 22, 23 or only via the low-pressure suction 21.
- These can also be fixed to the closure receptacle 3 by positive connection 35, negative pressure 34 or a combination of both possibilities.
- Figure 2 shows a side view of the gripping device 1 according to the invention with the Be fiscaleraufhahme 2, the VerInstitutaufhahme 3, the container 4, the rubber stopper 5 and the connecting elements 6 according to the embodiment.
- the first Ansaugöffhung 21 of the left container 4 is located within the Be fiscaleraufhahme 2, the first Ansaugöffhung 21 of the left container 4.
- the plug collar 51 is located within the closure receptacle 3 and the plate 32, the second suction port 34 of the left rubber stopper 5.
- Figure 2 shows only the two suction ports 21, 34 of the left container 4, so has, As already described, the gripping device 1 via four suction ports 21, 34. Each of these four intake ports 21, 34 is connected via a separate vacuum lines 7 with an external vacuum source 72.
- each of the four vacuum lines 7 is connected by means of the internal vacuum distribution 71 with one of the four intake ports. Since the vacuum lines 7 for the two second suction openings 34 of the closure receptacle 3 also open into the container receptacle 2, the internal vacuum distribution 71 has the negative pressure distribution from the receptacle receptacle 2 to the closure receptacle 3 via channels in the linear guide element 64.
- FIG. 2 shows the pneumatic cylinder 61 for carrying out the relative movement 11.
- the pneumatic cylinder 61 comprises a hollow cylinder which is fitted in a bore in the container receptacle 2.
- a piston of the pneumatic cylinder 61 In this hollow cylinder inserted a piston of the pneumatic cylinder 61.
- the pneumatic cylinder 61 is designed to be double-acting and thus can reduce both the compressed air operated and lift the closure receptacle 3. Due to the double-acting design, the pneumatic cylinder 61 has two pneumatic lines 62 which connect it to an external pressure source 63. It should be noted here that only one pneumatic line 62 is sufficient for the pneumatic cylinder 61.
- FIG. 3 shows a schematic representation of the plan view of the pharmaceutical plant 8 according to the embodiment of the invention.
- the pharmaceutical plant 8 functions in a pharmaceutical production chain as a transport and closure unit for the containers 4.
- the gripping device 1 is operated on a robot arm 82 of the handling unit 81.
- the robot arm 82 moves the gripping device 1 from a supply position 86 via a towing position 85 to a parking position 87.
- the gripping device 1 carries out an arc-shaped towing movement by means of the robot arm 82 as indicated by the arrow 83 in FIG. 3 (contrary to the arrow direction).
- a sorter 84 aligns the rubber stoppers 5 and provides two rubber stoppers 5 at the towing position 85, respectively.
- the rubber stoppers 5 are aligned to be vertical and the plug collar 51 is above the taper 52.
- the gripping device 1 From the parking position 87 moves (opposite to the arrow 83), the gripping device 1, without container 4 and without rubber stopper 5, in the direction of the towing 85. In this case, the gripping device 1 passes with the arcuate towing the tow position 85 to tow the rubber stopper 5.
- the gripping device 1 remains in constant motion.
- the pockets 35 of the VerMitabschlepptechniken 31 are in this process exactly at the level of the plug collars 51 and thus slip the rubber plug 5 along the arcuate openings 33 in the pockets 35.
- the rubber stoppers 5 are held by means of the negative pressure at the second intake ports 34 , Thereafter, the gripping device 1 moves to the supply position 86 and takes there two containers 4, filled with pharmaceutical substance on.
- the containers 4 are filled directly at the supply position 86 with pharmaceutical substance. Immediately after completion of the filling, the gripping device 1 picks up the containers 4 and immediately starts the closing process. This very rapid closure avoids the pharmaceutical substance being polluted or reacting with the surrounding atmosphere.
- the recording of the rubber stopper 5 may also be clocked. That is, the gripping device 1 stops at the towing position 83, picks up the rubber stopper 5, and then moves toward the supply position 86.
- the materials of the pharmaceutical plant 8, the handling unit 81 and the gripping device 1 are selected according to the requirements of use in the insulator 88.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
- Sealing Of Jars (AREA)
- Specific Conveyance Elements (AREA)
- Closures For Containers (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008001288A DE102008001288A1 (en) | 2008-04-21 | 2008-04-21 | Gripping device for receiving containers and closures and for closing the containers |
PCT/EP2009/053852 WO2009130114A1 (en) | 2008-04-21 | 2009-04-01 | Gripping device for picking up containers and closures and for closing the containers |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2279122A1 true EP2279122A1 (en) | 2011-02-02 |
EP2279122B1 EP2279122B1 (en) | 2011-07-06 |
Family
ID=40756578
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09733978A Active EP2279122B1 (en) | 2008-04-21 | 2009-04-01 | Gripping device for picking up containers and closures and for closing the containers |
Country Status (7)
Country | Link |
---|---|
US (1) | US20110030316A1 (en) |
EP (1) | EP2279122B1 (en) |
JP (1) | JP5328893B2 (en) |
CN (1) | CN102015456B (en) |
AT (1) | ATE515437T1 (en) |
DE (1) | DE102008001288A1 (en) |
WO (1) | WO2009130114A1 (en) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5933918B2 (en) * | 2009-12-10 | 2016-06-15 | エフ.ホフマン−ラ ロシュ アーゲーF. Hoffmann−La Roche Aktiengesellschaft | Mold-shaped locking system |
JPWO2011108446A1 (en) * | 2010-03-03 | 2013-06-27 | 株式会社湯山製作所 | Drug filling device |
US9168202B2 (en) * | 2011-01-26 | 2015-10-27 | Gary L. Sharpe | Device and method for docking a vial with a container |
CN103721772B (en) * | 2012-10-16 | 2015-08-12 | 杭州爱菩高特生物技术有限公司 | Multi-functional centrifuge tube box with cover |
CN102942152A (en) * | 2012-12-04 | 2013-02-27 | 金坛市晨光轻工机械有限公司 | Bottle-pushing guide mechanism of inner plug hooding machine |
CN103896190B (en) * | 2012-12-24 | 2018-01-02 | 艾森特崇越私人有限公司 | Component is screwed for closed plug to be screwed on syringe |
CN106275676B (en) * | 2015-05-20 | 2018-08-03 | 华生水资源生技股份有限公司 | The drinking water barrel and its manufacturing system of bottleneck sheet type sealing |
US10426699B2 (en) * | 2015-11-30 | 2019-10-01 | Gary L. Sharp | Device and method for docking a vial with a container |
JP7191674B2 (en) * | 2018-12-21 | 2022-12-19 | 川崎重工業株式会社 | End effector and robot with it |
DE102020131098A1 (en) * | 2020-11-24 | 2022-05-25 | Syntegon Technology Gmbh | Device for closing pharmaceutical containers |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR1552799A (en) * | 1967-02-28 | 1969-01-10 | ||
JPS4928121Y1 (en) * | 1970-06-30 | 1974-07-31 | ||
US3714760A (en) * | 1971-03-10 | 1973-02-06 | Anchor Hocking Corp | High speed rotary container sealing machine with inclined sealing heads |
JPS5143422B2 (en) * | 1972-04-18 | 1976-11-22 | ||
DE3927911A1 (en) * | 1989-08-24 | 1991-02-28 | Alfill Getraenketechnik | METHOD AND DEVICE FOR FILLING AND SEALING CAN |
DE4021836C1 (en) * | 1990-07-09 | 1991-05-02 | Arzneimittel Gmbh Apotheker Vetter & Co Ravensburg, 7980 Ravensburg, De | |
JPH061394A (en) * | 1992-06-12 | 1994-01-11 | Sato Kasei Kogyosho:Yugen | Simultaneous capping method of a number of cyindrical containers |
US5301488A (en) * | 1992-11-06 | 1994-04-12 | National Instrument Company, Inc. | Programmable filling and capping machine |
US5339595A (en) * | 1992-12-31 | 1994-08-23 | Abbott Laboratories | Head for apparatus for filling a container and placing a stopper therein |
JP3095364B2 (en) * | 1997-02-26 | 2000-10-03 | 田中技研工業株式会社 | Cap fitting device |
DE19716846C1 (en) * | 1997-04-22 | 1998-11-19 | Bosch Gmbh Robert | Evacuation and closing device |
DE19937011B4 (en) | 1999-08-05 | 2011-06-30 | Robert Bosch GmbH, 70469 | Device for pressing plugs into openings of a bottle-like container |
JP2006182427A (en) * | 2004-12-28 | 2006-07-13 | Pola Chem Ind Inc | Inner plug fitting apparatus and inner plug fitting method |
JP4880968B2 (en) * | 2005-10-05 | 2012-02-22 | 花王株式会社 | Article holding and rotating device |
CN200971311Y (en) * | 2006-10-30 | 2007-11-07 | 湖南千山制药机械股份有限公司 | Stopper applying and securing device of rotation bottle closing machine |
ITBO20070044A1 (en) * | 2007-01-25 | 2008-07-26 | Marchesini Group Spa | APPARATUS FOR CAPPING OF BOTTLES AND METHOD FOR IMPLEMENTING THIS CAPPING |
-
2008
- 2008-04-21 DE DE102008001288A patent/DE102008001288A1/en not_active Withdrawn
-
2009
- 2009-04-01 WO PCT/EP2009/053852 patent/WO2009130114A1/en active Application Filing
- 2009-04-01 AT AT09733978T patent/ATE515437T1/en active
- 2009-04-01 US US12/736,593 patent/US20110030316A1/en not_active Abandoned
- 2009-04-01 EP EP09733978A patent/EP2279122B1/en active Active
- 2009-04-01 JP JP2011505451A patent/JP5328893B2/en not_active Expired - Fee Related
- 2009-04-01 CN CN200980114192.6A patent/CN102015456B/en active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2009130114A1 * |
Also Published As
Publication number | Publication date |
---|---|
JP2011518090A (en) | 2011-06-23 |
JP5328893B2 (en) | 2013-10-30 |
US20110030316A1 (en) | 2011-02-10 |
CN102015456A (en) | 2011-04-13 |
WO2009130114A1 (en) | 2009-10-29 |
ATE515437T1 (en) | 2011-07-15 |
CN102015456B (en) | 2015-11-25 |
EP2279122B1 (en) | 2011-07-06 |
DE102008001288A1 (en) | 2009-10-22 |
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