EP2279122A1

EP2279122A1 - Gripping device for picking up containers and closures and for closing the containers

Info

Publication number: EP2279122A1
Application number: EP09733978A
Authority: EP
Inventors: Klaus Blumenstock; Michael Simon
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2008-04-21
Filing date: 2009-04-01
Publication date: 2011-02-02
Anticipated expiration: 2029-04-01
Also published as: CN102015456B; ATE515437T1; US20110030316A1; EP2279122B1; WO2009130114A1; CN102015456A; DE102008001288A1; JP5328893B2; JP2011518090A

Abstract

The invention relates to a gripping device (1) comprising a container picking up device (2) and a closure picking up device (3) for picking up and closing containers (4). Said container picking up device (2) is designed to pick up the container (4), the closure picking up device (3) is designed to pick up a closure (5), and said closure pick up device (3) is connected to the container pick up device (2) by means of a connecting element (6), said connecting element (6) allowing a relative movement (11) between the container pick up device (2) and the closure pick up device (3) to take place in order for the container (4) to close by means of the closure (5).

Description

description

title

Gripping device for receiving containers and closures and for closing the

container

State of the art

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.

From the prior art packaging machines with rotating star wheels are known. By this star wheels bottle-shaped containers are isolated and transported. The closing takes place by so-called pick and place units, which are arranged above the containers or the starwheels. These pick and place units seal the containers e.g. with plugs by means of revolving, horizontally or vertically standing stopper wheels or with revolving, cam-controlled plug setting units. This type of closure requires a considerable amount of format parts, since the construction of these star wheels and setting units is specified by the containers and closures. Furthermore, the prior art devices do not allow flexible design of the operation of filling and sealing operations.

Advantages of the invention

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. This is inventively achieved in that the gripping device comprises a Behälteraufhahme and a closure receptacle. In this case, the invention provides that the Behälteraufhahme can keep a filled container or bottle safely. The Verschlussaufhahme is provided for holding the closure. On the one hand, 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. Simultaneously with the gripping or before or after grasping the container, a provided closure is received by the closure receptacle. According to the invention, the gripping device moves after and / or during the Aufhahmeporgänge 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 dependent claims show preferred developments of the invention.

Preferably, the connecting element comprises a guide element. This guide element performs the relative movement between Behälteraufhahme and Verschlussaufhahme and thus allows the precise fit placing the closure on the container.

Further preferred is the embodiment of the guide element as a linear guide element to set the closures linearly on the Behälteröffhung. This prevents, for example, a plug tilt during insertion into the Behälteröffhung. The linear guide element preferably comprises at least a rod, wherein the relative movement is guided by this rod. As a shape of the rod is both a hollow as well as full cylinder as well as an edged profile conceivable.

In order to receive a closure under constant movement of the gripping device, 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.

In a particularly preferred embodiment, 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.

Further preferably, intake openings are formed on the container receptacle and / or closure receptacle. By applying this Ansaugöffhungen with negative pressure a secure hold of the container or closure is ensured in the gripping device. Furthermore, by removing the negative pressure or by acting on the intake ports with overpressure two things can be achieved: First, the closure can be placed on the container and second, the container can be solved at a certain time and thus at a certain position of the container receptacle.

Furthermore, 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. As a result, 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. As a result of the separate vacuum supply according to the invention of the container receptacle, 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.

Further advantageous is a lowering of the closure receptacle for placing the closure on the container. As a result, 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. Preferably, the lowering is operated pneumatically. In this case, a use of the negative pressure described above is conceivable. However, the drive of the relative movement is not limited to pneumatic and a mechanical or hydraulic drive is also conceivable.

Further, the invention provides that the gripping device can accommodate at least two containers and, accordingly, at least two closures. As a result, the gripping device can be adapted to the timing of the production chain, and the efficiency of the production can be optimized.

Further preferably, 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.

Further preferred is the use of a plug as a closure. Thus, e.g. a cost-effective rubber stopper with the gripping device according to the invention are pressed into the container.

Furthermore, a handling unit for receiving containers and closures and for closing the containers is provided according to the invention. This handling unit comprises at least one gripping device according to the invention. Thus, 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. In addition, 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. Alternatively, it is provided that the handling unit also forwards pressure and vacuum supply to an external source to the gripping device. Particularly advantageous is the use of 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.

Furthermore, it is provided according to the invention to operate the handling unit within an insulator, wherein the insulator is arranged like a hood element on the gripping device. Thus, a closure of the container under inert gas or in a vacuum is possible.

Further preferred is the use of 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.

It is also advantageous, alternatively to receiving the closure by means of towing movement, to clock the receptacle of the closure. That is, the gripping device stops, picks up a shutter, and then moves on

Short description of the drawing

Hereinafter, a preferred embodiment of the invention will be described with reference to the accompanying drawings. In the drawing is:

Figure 1 is a perspective view of a gripping device according to a

Embodiment of the invention,

Figure 2 is a side view of the gripping device according to the

Embodiment of the invention, and

Figure 3 is a schematic representation of the plan view of a pharmaceutical

Plant according to the embodiment of the invention. Preferred embodiment of the invention

Hereinafter, a gripping device 1 according to a preferred embodiment of the invention will be described in detail with reference to Figures 1 to 3. The gripping device 1 of the exemplary embodiment is used with a handling unit 81 within a pharmaceutical system 8.

As can be seen from Figure 1, 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.

In Figure 1, the right container 4 is hidden for clarity. The associated closure 5 is shown, however.

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. Also shown are 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. However, the execution of the closures 5 as a rubber stopper 5 is exemplary. Also according to the invention provided is the execution of the closures 5 as caps, screw caps or plugs of any material.

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. To ensure a secure hold, slightly more than half the circumference of the container body 41 of the second positive locking contour 23 embraced. Furthermore, the first arcuate form-fitting contour 22 engages around the container neck 42 directly below the container collar 43. Thus, the first positive-locking contour 22 forms two positive-fit holders for the container 4. First, 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. To press the rubber stopper 5 in the openings of the container 4, it requires a relative movement 11 between the B ehälter aufnähme 2 and the Closure receptacle 3. In the embodiment, this relative movement 11 is carried out by the plate 32 is lowered in the direction of Behälteraufhahme 2. In order to press the rubber stopper 5 in a straight movement in the container 4, the two Lmearführungselement 64 are accurately guided in two through holes 24. These through holes 24 form at the bottom of the Behälteraufhahme 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 Behälteraufhahme 2 to perform the relative movement 11.

In addition to the positive fixing of the container 4 and rubber stopper 5, the gripping device 1 according to the invention has four intake ports 21, 34. Thus, in each case a first Ansaugöffhung 21 per container 4 and in the Verschlussaufhahme a second Ansaugöffhung 34 per closure 5 in the Behälteraufhahme 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. By means of the Ansaugöffhungen 21, 34, the container 4 and the rubber stopper 5 are fixed with negative pressure on the gripping device 1. As an alternative to the integrated Ansaugöffhungen, 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.

It should be noted that the vacuum suction 21 and the positive clamping 22, 23 of the container 4 are also applicable alternatively. Thus, it is possible for the containers 4 to 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. The same applies to the rubber stoppers 5. 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 Behälteraufhahme 2, the Verschlussaufhahme 3, the container 4, the rubber stopper 5 and the connecting elements 6 according to the embodiment. On the left side of the container 4 is located within the Behälteraufhahme 2, the first Ansaugöffhung 21 of the left container 4. About 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. Although 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. Within the gripping device 1, 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.

Furthermore, FIG. 2 shows the pneumatic cylinder 61 for carrying out the relative movement 11. As a result of this linear relative movement 11, the rubber stoppers 5 are pressed into the containers 4. The pneumatic cylinder 61 comprises a hollow cylinder which is fitted in a bore in the container receptacle 2. 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. Thus, the movement for lifting the shutter receiving 3 z. B. by a, integrated into the pneumatic cylinder 61 spring.

It should be noted that the pneumatic cylinder 61 can alternatively be co-supplied via the pressure source 63, via the vacuum lines 7. Furthermore, the pneumatic cylinder 61 can replace one of the two linear guide elements 64. In this case, the pneumatic cylinder 61 not only takes over the lifting and lowering work, but together with the remaining linear guide element 64 secures the linear guidance of the closure receptacle 3. Alternatively to the pneumatic drive of the relative movement 11, a hydraulic or mechanical drive is possible. Figure 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. In this pharmaceutical plant 8, the gripping device 1 according to the invention 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.

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. During the towing process, the gripping device 1 remains in constant motion. The pockets 35 of the Verschlussabschleppeinheiten 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. 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. These containers 4 are held both by the two form-fitting contours 22, 23 and by the negative pressure at the two first suction openings 21. Immediately after picking up the container 4, the gripping device 1 performs the relative movement 11 and thus closes the container 4. As soon as the rubber stoppers 5 are stuck in the containers 4, the negative pressure can be taken from the second suction openings 34. Simultaneously with the closing of the container 4, the robot arm 82 moves the gripping device 1 further in the direction of the parking position 87. At this parking position 87, the negative pressure is taken from the first suction openings 21, and the closed containers 4 are turned off. The handling unit 81 thus closes the containers 4 without loss of time during transport of the containers 4 from the provision position 86 to the storage position 87. 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.

Alternatively, to accommodate the rubber stopper 5 by means of towing, 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.

Furthermore, it is provided according to the invention to operate the pharmaceutical system 8 or the handling unit 81 within an isolator 88. For this purpose, 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.

Claims

claims

1. gripping device (1) comprising a container receptacle (2) and a closure receptacle (3) for receiving and closing containers (4), wherein the container receptacle (2) for receiving the container (4) is formed and the closure receptacle (3) for Receiving a closure (5) is formed, wherein the closure receptacle (3) via a connecting element (6) with the container receptacle

(2) is connected, and wherein the connecting element (6) allows a relative movement (11) between the container receptacle (2) and the closure receptacle (3) to close the container (4) with the closure (5).

2. Gripping device according to claim 1, characterized in that the connecting element (6) comprises a guide element (6) which guides the relative movement (11).

3. Gripping device according to claim 2, characterized in that the guide element (6) is a linear guide element (64).

A gripping device according to any one of the preceding claims, characterized in that the closure receptacle (3) comprises a closure tow unit (31), the closure tow unit (31) being adapted for towing a closure (5) from a towing position (85), and wherein the Locking tow unit (3) during towing steadily relative to the towing position (85) is moved.

5. A gripping device according to claim 4, characterized in that the Verschlussabschleppeinheit (31) comprises a plate (32) with arcuate pocket (35), wherein the dimensions of the arcuate pocket (35) correspond to the dimensions of the closure (5).

6. Gripping device according to one of the preceding claims, characterized in that the container receptacle (2) comprises a vacuum acted upon the first suction port (21), and / or the closure receptacle (3) comprises a pressurizable with a second Ansauföffhung (34) to the Hold container (4) or the closure (5).

7. Gripping device according to claim 6, characterized in that the first Ansaugöffhung (21) and the second suction port (34) have two separate lines (7,71) which are each independently connected to a vacuum source (72).

8. Gripping device according to one of the preceding claims, characterized in that the closure receptacle (3), in particular pneumatically operated, can be lowered to close the container (4) with the closure (5).

9. Gripping device according to one of the preceding claims, characterized in that the container receptacle (2) for receiving at least two containers (4) is formed, and the closure receptacle (3) for receiving at least two closures (5) is formed.

10. Gripping device according to one of the preceding claims, characterized in that the container receptacle (2) has a contour (22, 23) corresponding to the male container (4) for positive reception of the container (4).

11. Gripping device according to one of the preceding claims, characterized in that the closure (5) is a plug (5).

12. Handling unit (81) for receiving and closing containers (4), characterized in that the handling unit (81) comprises at least one gripping device (1) according to one of the preceding claims.