EP2279122B1 - Dispositif de préhension pour la réception de contenants et d'éléments de fermeture et pour la fermeture des contenants - Google Patents

Dispositif de préhension pour la réception de contenants et d'éléments de fermeture et pour la fermeture des contenants Download PDF

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Publication number
EP2279122B1
EP2279122B1 EP09733978A EP09733978A EP2279122B1 EP 2279122 B1 EP2279122 B1 EP 2279122B1 EP 09733978 A EP09733978 A EP 09733978A EP 09733978 A EP09733978 A EP 09733978A EP 2279122 B1 EP2279122 B1 EP 2279122B1
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EP
European Patent Office
Prior art keywords
closure
container
mount
containers
gripping device
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.)
Active
Application number
EP09733978A
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German (de)
English (en)
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EP2279122A1 (fr
Inventor
Klaus Blumenstock
Michael Simon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2279122A1 publication Critical patent/EP2279122A1/fr
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Publication of EP2279122B1 publication Critical patent/EP2279122B1/fr
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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

  • 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 container receptacle and a closure receptacle. It is inventively provided that the container receptacle can hold a filled container or bottle safely.
  • the closure receptacle 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, permits a relative movement between receptacle 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 picking operations to a position in the production chain at which the closed containers are to be turned off. That is, the gripping device conveys the containers within the production chain. During this transport, the gripping device performs the relative movement between the container receptacle and the closure receptacle and closes the container with the closure. Thus, the container is transported and sealed simultaneously.
  • the connecting element comprises a guide element.
  • This guide element guides the relative movement between the container receptacle and the closure receptacle and thus enables the snug fit of the closure onto the receptacle.
  • 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 removal unit.
  • 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.
  • suction openings are formed on the container receptacle and / or closure receptacle.
  • suction openings are formed on the container receptacle and / or closure receptacle.
  • the intake openings of the container receptacle and the closure receptacle each independently with negative pressure.
  • 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 increases. Due to the invention separate vacuum supply of the container receptacle of the negative pressure at the suction port of the container receptacle remains constant and the container does not detach 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 Pouring the surrounding machines could damage 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.
  • FIGS. 1 to 3 a gripping device 1 according to a preferred embodiment of the invention described in detail.
  • 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 in connection with the pharmaceutical plant 8 from FIG. 3 is described, this gripping device 1 can accommodate two containers 4 and two closures 5 and transport them. 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 is hidden for clarity of the right container 4.
  • the associated closure 5 is shown, however.
  • FIG. 1 Shown in FIG. 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 surrounds 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. 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 may 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 respective pocket 35.
  • the towing function of the VerInstitutabschlepptechnik 31 is in connection with FIG. 3 described.
  • FIG. 1 It can be seen how the rubber stoppers 5 are held in a form-fitting manner at the level of the plug collars 51 by the pockets 35.
  • the connecting element 6, which connects the container receptacle 2 with the closure receptacle 3, in this embodiment comprises two linear guide elements 64 and a pneumatic cylinder 61.
  • the pneumatic cylinder 61 is in connection with the comments to FIG. 2 explained.
  • the two Linearfiihrungs institute 64 are designed as cylindrical rods which are fixedly connected to the plate 32.
  • the two linear guide element 64 are accurately in two through holes 24 are stirred. These through holes 24 at the lower end of the container receptacle 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 raise the container receptacle 2 for carrying out the relative movement 11.
  • the gripping device 1 has four intake openings 21, 34.
  • a first suction opening 21 per container 4 and in the closure receptacle each have a second suction opening 34 per closure 5.
  • the two first suction openings 21 are designed as a bore in the second form-fitting contour 23 and are thus at the height of the container body 41.
  • the two second suction opening 34 is located in each of the pockets 35 above the plug collars 51.
  • the gripping device may also comprise an attached suction system for sucking the containers 4 and rubber stoppers 5. The supply of the gripping device 1 with negative pressure is described below FIG. 2 described.
  • the vacuum suction 21 and the positive clamping 22, 23 of the container 4 are also applicable alternatively. It is thus 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 negative-pressure suction 21. The same applies to the rubber stoppers 5. These can also be fixed to the closure receptacle 3 by positive locking 35, negative pressure 34 or a combination of both possibilities.
  • FIG. 2 shows a side view of the gripping device 1 according to the invention with the container receptacle 2, the closure receptacle 3, the container 4, the rubber plug 5 and the connecting elements 6 according to the embodiment.
  • the gripping device 1 On the left side of the container 4 is located within the container receptacle 2, the first suction port 21 of the left container 4.
  • the plug collar 51 Above 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.
  • the gripping device 1 has four intake openings 21, 34. Each of these four intake openings 21, 34 is connected via a separate vacuum lines 7 to 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.
  • the pneumatic cylinder 61 for performing 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.
  • 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.
  • 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 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 performs an arcuate towing movement by means of the robot arm 82, as in FIG FIG. 3 indicated by the arrow 83 (opposite to the arrow).
  • 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.
  • the gripping device 1 passes with the arcuate towing the tow position 85 to tow the rubber stoppers 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)

Claims (12)

  1. Dispositif de préhension (1) comprenant un logement de contenants (2) et un logement de fermeture (3) pour recevoir et fermer des contenants (4), le logement de contenants (2) étant réalisé pour recevoir le contenant (4) et le logement de fermeture (3) étant réalisé pour recevoir une fermeture (5), caractérisé en ce que le logement de fermeture (3) est connecté au logement de contenants (2) par le biais d'un élément de liaison (6),
    l'élément de liaison (6) permettant un mouvement relatif (11) entre le logement de contenants (2) et le logement de fermeture (3), afin de fermer le contenant (4) avec la fermeture (5).
  2. Dispositif de préhension selon la revendication 1, caractérisé en ce que l'élément de liaison (6) comprend un élément de guidage (6) qui guide le mouvement relatif (11).
  3. Dispositif de préhension selon la revendication 2, caractérisé en ce que l'élément de guidage (6) est un élément de guidage linéaire (64).
  4. Dispositif de préhension selon l'une quelconque des revendications précédentes, caractérisé en ce que le logement de fermeture (3) comprend une unité de remorquage de fermeture (31), l'unité de remorquage de fermeture (31) étant réalisée pour remorquer une fermeture (5) depuis une position de remorquage (85), et l'unité de remorquage de fermeture (31) étant déplacée lors du remorquage de manière constante par rapport à la position de remorquage (85).
  5. Dispositif de préhension selon la revendication 4, caractérisé en ce que l'unité de remorquage de fermeture (31) comprend une plaque (32) avec une cavité de forme courbe (35), les dimensions de la cavité de forme courbe (35) correspondant aux dimensions de la fermeture (5).
  6. Dispositif de préhension selon l'une quelconque des revendications précédentes, caractérisé en ce que le logement de contenants (2) comprend une première ouverture d'aspiration (21) pouvant être sollicitée avec une dépression, et/ou le logement de fermeture (3) comprend une deuxième ouverture d'aspiration (34) pouvant être sollicitée avec une dépression, afin de retenir le contenant (4) ou la fermeture (5).
  7. Dispositif de préhension selon la revendication 6, caractérisé en ce que la première ouverture d'aspiration (21) et la deuxième ouverture d'aspiration (34) ont deux conduites séparées (7, 71), qui sont chacune reliées indépendamment l'une de l'autre à une source de dépression (72).
  8. Dispositif de préhension selon l'une quelconque des revendications précédentes, caractérisé en ce que le logement de fermeture (3) peut être abaissé, en particulier par entraînement pneumatique, afin de fermer le contenant (4) avec la fermeture (5).
  9. Dispositif de préhension selon l'une quelconque des revendications précédentes, caractérisé en ce que le logement de contenants (2) est réalisé pour recevoir au moins deux contenants (4), et
    le logement de fermeture (3) est réalisé pour recevoir au moins deux fermetures (5).
  10. Dispositif de préhension selon l'une quelconque des revendications précédentes, caractérisé en ce que le logement de contenants (2) présente un contour (22, 23) correspondant au contenant (4) à recevoir en vue d'une réception avec correspondance géométrique du contenant (4).
  11. Dispositif de préhension selon l'une quelconque des revendications précédentes, caractérisé en ce que la fermeture (5) est un bouchon (5).
  12. Unité de manipulation (81) pour recevoir et fermer des contenants (4), caractérisée en ce que l'unité de manipulation (81) comprend au moins un dispositif de préhension (1) selon l'une quelconque des revendications précédentes.
EP09733978A 2008-04-21 2009-04-01 Dispositif de préhension pour la réception de contenants et d'éléments de fermeture et pour la fermeture des contenants Active EP2279122B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008001288A DE102008001288A1 (de) 2008-04-21 2008-04-21 Greifvorrichtung zum Aufnehmen von Behältern und Verschlüssen sowie zum Verschließen der Behälter
PCT/EP2009/053852 WO2009130114A1 (fr) 2008-04-21 2009-04-01 Dispositif de préhension pour la réception de contenants et d'éléments de fermeture et pour la fermeture des contenants

Publications (2)

Publication Number Publication Date
EP2279122A1 EP2279122A1 (fr) 2011-02-02
EP2279122B1 true EP2279122B1 (fr) 2011-07-06

Family

ID=40756578

Family Applications (1)

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EP09733978A Active EP2279122B1 (fr) 2008-04-21 2009-04-01 Dispositif de préhension pour la réception de contenants et d'éléments de fermeture et pour la fermeture des contenants

Country Status (7)

Country Link
US (1) US20110030316A1 (fr)
EP (1) EP2279122B1 (fr)
JP (1) JP5328893B2 (fr)
CN (1) CN102015456B (fr)
AT (1) ATE515437T1 (fr)
DE (1) DE102008001288A1 (fr)
WO (1) WO2009130114A1 (fr)

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JPWO2011108446A1 (ja) * 2010-03-03 2013-06-27 株式会社湯山製作所 薬剤充填装置
US9168202B2 (en) * 2011-01-26 2015-10-27 Gary L. Sharpe Device and method for docking a vial with a container
CN103721772B (zh) * 2012-10-16 2015-08-12 杭州爱菩高特生物技术有限公司 多功能带盖离心管盒
CN102942152A (zh) * 2012-12-04 2013-02-27 金坛市晨光轻工机械有限公司 内塞加盖机的拨瓶导向机构
CN103896190B (zh) * 2012-12-24 2018-01-02 艾森特崇越私人有限公司 用于将密闭塞拧到注射器上的旋拧组件
CN106275676B (zh) * 2015-05-20 2018-08-03 华生水资源生技股份有限公司 瓶口薄片式封口的桶装水桶及其制作系统
US10426699B2 (en) * 2015-11-30 2019-10-01 Gary L. Sharp Device and method for docking a vial with a container
JP7191674B2 (ja) * 2018-12-21 2022-12-19 川崎重工業株式会社 エンドエフェクタとそれを備えたロボット
DE102020131098A1 (de) * 2020-11-24 2022-05-25 Syntegon Technology Gmbh Vorrichtung zum Verschließen von pharmazeutischen Behältnissen

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Also Published As

Publication number Publication date
JP5328893B2 (ja) 2013-10-30
CN102015456A (zh) 2011-04-13
JP2011518090A (ja) 2011-06-23
WO2009130114A1 (fr) 2009-10-29
DE102008001288A1 (de) 2009-10-22
US20110030316A1 (en) 2011-02-10
CN102015456B (zh) 2015-11-25
EP2279122A1 (fr) 2011-02-02
ATE515437T1 (de) 2011-07-15

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