WO2009130113A1

WO2009130113A1 - Method for closing containers by means of a closure in a gripping device

Info

Publication number: WO2009130113A1
Application number: PCT/EP2009/053851
Authority: WO
Inventors: Klaus Blumenstock; Michael Simon
Original assignee: Robert Bosch Gmbh
Priority date: 2008-04-21
Filing date: 2009-04-01
Publication date: 2009-10-29
Also published as: DE102008001282A1; EP2280874B1; US20110030320A1; JP2011519327A; EP2280874A1; JP5210431B2; ATE527173T1; CN102015457A

Abstract

The invention relates to a method for closing containers (4) by means of a closure (5) in a gripping device (1). Said method consists of the following steps : the closure (5) is picked up in the gripping device (5), the container (4) is picked up in the gripping device (1), the container (4) is closed by means of the closure (5) in the gripping device (1) and the closed container (4) is deposited by the gripping device (1). Said gripping device (1) is displaced by a handling unit (81) from a first position (86) in to a second position (87) for transporting the container (4), and the container (4) is closed whilst the handling unit (81) is displaced by the gripping device (1).

Description

description

title

Method for closing containers by means of a closure in a gripping device

State of the art

The present invention relates to a method for closing containers by means of a closure in a gripping device, 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 methods do not allow flexible design of the operation of filling and sealing operations.

Advantages of the invention

In contrast, the method according to the invention with the features of claim 1 has the advantage that it can be carried out inexpensively on account of a simple and efficient sequence. This allows a flexible and economical implementation of the method for various containers and closures. Furthermore, the method is a modular component in a chain of production processes. This modularity allows a flexible variation of the method without having to change the production steps before or after the inventive method. The inventive use of a gripping device on a Handling unit allows the simultaneous execution of two process steps: First, the containers are transported by the handling unit from a first position to a second position. On the other hand, the containers are closed during the transport process. 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 method for closing containers by means of a closure in a gripping device comprises the following four steps: In a first step, the gripping device receives a closure. In a second method step, the gripping device picks up the filled container from a first position (also referred to below as the ready position). During a third step, the container is now closed with the closure. At the same time as this closing operation, the container and closure are transported by means of a handling unit within the production chain. A fourth step provides that the sealed container is dispensed from the gripping device. This delivery takes place at a second position (also referred to below as the parking position). Thus, the container is transported and sealed simultaneously. The first two steps are variable in their order. According to the invention it is also provided that the gripping device first receives the container and then the closure. Furthermore, these two steps can also be combined and the reception of container and closure takes place simultaneously according to the invention.

The dependent claims show preferred developments of the invention.

Preferably, the method provides that the closure is picked up by means of a towing movement, wherein the closure is towed from a towing position. During the towing movement, the gripping device moves continuously, ie without stopping, relative to the towing position. Thus, the closure can be taken during travel, or during the transport process without loss of time in the gripping device. Thanks to this preferred development of the method according to the invention, both the picking up of the closure and the closing of the container can be integrated into the transport process of the handling unit. In a particularly preferred embodiment, the towing movement is executed arcuate. Thus, by means of a preferably linear or arcuate opening in the gripping device, the closure can be received in a pocket.

Furthermore, it is preferred that the gripping device moves from the provisioning position to the parking position at a constant speed. This means that both the transport process and the tow motion are performed at the same speed.

In a further advantageous embodiment, it is provided that the gripping device can accommodate at least two containers and, accordingly, at least two closures. Thus, the process can be adapted to the timing of the production chain, and the production efficiency can be optimized.

It is also advantageous to tow several closures with only one towing movement. Thus, the handling unit does not have to perform an arcuate towing for each closure and the resulting liquid flow of the transport process speeds up production.

Further preferred is the use of a freely programmable, multi-axis, servo-driven robot or robotic arm as a handling unit. The robot enables a flexible design of the movement sequence of the gripping device within the production chain. Furthermore, the robot can adapt the speed, acceleration and shape of the towing movement to different shutter formats and machine performances.

Further advantageous is a lowering of the closure for placing the closure on the container. Thereby, the container is not moved relative to the gripping device and an unnecessary acceleration of the contents of the container is avoided. This prevents e.g. the spilling over of a liquid content.

More preferably, the suction of the container and / or the closure to the gripping device by means of negative pressure. By applying negative pressure, a secure hold of the container or closure is ensured in the gripping device. - A -

Furthermore, two things can be achieved by removing the negative pressure or by applying pressure: First, the closure can be placed on the container and, secondly, the container can be released at a certain time and thus at a specific position from the container receptacle.

Furthermore, the invention provides for the intake of container and closure to be supplied independently with negative pressure. As a result, the suction of the container is independent of a possible increase in pressure of the suction of the closure, and vice versa. Take e.g. the gripping device due to a malfunction no closure, or the closure is released from the gripping device, the pressure rises at the Verschlussansaugung. As a result of the separate vacuum supply according to the invention for the container intake, the negative pressure on the container remains constant and the container does not come loose from the gripping device. This backup of the container by the separate vacuum supply is particularly advantageous if the contents of the container in the event of a shake could damage the surrounding machinery or harm people.

Further preferred is the application of the method according to the invention 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. Thus, the method of inserting drug stoppers into containers is used. The containers are filled with pharmaceutical substances and the drug plug is made of rubbery material.

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.

In a further advantageous development, it is provided that the gripping device closes the container with the closure by means of a pneumatic drive. A pressure source required for this purpose can be located outside the gripping device, and thus allows Gewichtsreduzierang the moving machine parts in the process. However, the drive of the closing movement is not limited to pneumatic and a mechanical or hydraulic drive is also conceivable.

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:

1 is a perspective view of a gripping device for carrying out a method according to an embodiment of the invention,

Figure 2 is a side view of the gripping device of Figure 1, and

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

Plant for carrying out a method according to the exemplary embodiment of the invention.

Preferred embodiment of the invention

Hereinafter, a gripping device 1 for carrying out a method 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. While of 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. Further, 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 containers 4, which are filled with pharmaceutical substances. However, the execution of the closures 5 as a rubber stopper 5 is exemplary. Also provided according to the invention, the execution of the closures 5 as caps, screw caps or plugs of any material.

The Behälteraufhahme 2 holds by means of a first positive locking contour 22 and a second positive locking contour 23, the bottle-shaped container 4 at two different areas of the container 4. Here, the arcuate second positive locking contour 23 surrounds the cylindrical container body 41. To ensure a secure hold is 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 surrounds 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 encompasses Formschlusskontur 22 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 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 container receptacle 2 and the closure receptacle 3. In the embodiment, this relative movement 11 is performed by the plate 32 is lowered in the direction of the container receptacle 2. In order to press the rubber stopper 5 in a straight motion in the container 4, the two linear guide elements 64 are performed accurately in two through holes 24. 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.

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 openings 21, 34. Thus, in each case a first suction opening 21 per container 4 is located in the container receptacle 2, and in each case a second suction opening 34 per closure 5 in the closure receptacle Both 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 port 34 is located in the pockets 35 on the stopper collars 51. By means of the suction ports 21, 34, the container. 4 or the rubber stopper 5 fixed with negative pressure on the gripping device 1. As an alternative to the integrated suction openings, 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 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. 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 12, the closure receptacle 3, the container 4, the rubber stopper 5 and the connecting elements 6 according to the exemplary embodiment. The first suction opening 21 of the left container 4 is located inside the container receptacle 2 on the left side of the container 4. The second suction opening 34 of the left rubber stopper 5 is located above the plug collar 51 within the closure receptacle 3 or the plate 32 As already described, 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. 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 ready 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. 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. Here, the gripping device 1 passes with the arcuate towing the tow position 85 to tow the rubber stoppers 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 slide 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 receiving the container 4, the gripping device 1 performs the relative movement 11 and thus closes the container 4. In this case 62 of the pneumatic cylinder 61 is activated by means of the pressure source 63 and the pneumatic lines. By contraction of the pneumatic cylinder 61, the closure receptacle 3 lowers on the B ehälter absorb 2 and the rubber stopper 5 are pressed into the container 4. As soon as the rubber stoppers 5 are inserted in the containers 4, the negative pressure can be taken from the second intake openings 34. Simultaneously with the closing of the container 4, ie simultaneously with the contraction of the pneumatic cylinder 61, 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 closes the containers 4 thus without loss of time during the transport of the container 4 from the supply position 86 to the parking position 87. Since the towing and the transport movement are performed at the same constant speed, the acceleration / deceleration of the container 4 is minimized and spilling over Contents of the container 4 prevented.

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, the rubber stopper 5 receives and then moves in the direction of 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

Method for closing containers (4) by means of a closure (5) in a gripping device (1), comprising the steps:

- receiving the closure (5) in the gripping device (1),

- receiving the container (4) in the gripping device (1),

- Closing of the container (4) with the closure (5) in the gripping device (1) and

- Delivering the closed container (4) from the gripping device (1), wherein the gripping device (1) for transporting the container (4) from a first position (86) to a second position (87) by a handling unit (81) is moved , and wherein, while the handling unit (81) moves the gripping device (1), the closing of the container (4) is carried out.

2. The method according to claim 1, characterized in that the closure (5) is received by means of a towing movement, wherein the closure (5) is towed from a towing position (85), and wherein the gripping device (1) during the towing movement steadily relative to Towing position (85) is moved.

3. The method according to claim 2, characterized in that the towing movement is performed arcuate.

4. The method according to any one of the preceding claims, characterized in that the gripping device (1) at least two containers (4) and at least two closures (5) receives.

5. The method according to claim 4, characterized in that the gripping device (1) with a towing movement several closures (5) towed.

6. The method according to any one of the preceding claims, characterized in that the handling unit (81) comprises a robot arm (82), wherein the gripping device (1) by the robot arm (82) is moved.

7. The method according to any one of the preceding claims, characterized in that when closing the container (4) of the closure (5) to the container (4) is lowered.

8. The method according to any one of the preceding claims, characterized in that the container (4) and / or the closure (5) by means of negative pressure in the gripping device (1) are fixed.

9. The method according to claim 8, characterized in that the negative pressure on the container (4) is independent of the negative pressure on the closure (5).

10. The method according to any one of the preceding claims, characterized in that the closure (5) is a pharmaceutical stopper and the method is carried out in a machine for pharmaceutical applications.