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

Abstract

The invention relates to a method for closing containers with a closure in a gripping device. The method consists of a series of steps. First, the closure is picked up in the gripping device, then the container is picked up in the gripping device, the container is closed with the closure in the gripping device, and the closed container is deposited by the gripping device. The gripping device is displaced by a handling unit from a first position in to a second position for transporting the container, and the container is closed whilst the handling unit is displaced by the gripping device.

1 - 10 . (canceled) 
     
     
         11 . A method for closing containers by means of a manipulation unit which has a closure in a gripper device, including the following steps:
 picking up the closure with the gripper device so the closure is gripped by the gripping device;   picking up the container with the gripper device so the container is gripped by the gripping device;   closing the container with the closure in the gripper device; and   ejecting the closed container from the gripper device, wherein the gripper device, in order to transport the container from a first position to a second position, is moved by a manipulation unit, and wherein the closure of the container is performed while the manipulation unit is moving the gripper device.   
     
     
         12 . The method as defined by  claim 11 , wherein the closure is received by the gripping device by means of a tow-away motion, and the closure is towed away from a tow-away position by the gripping device during which the gripper device is moved steadily relative to the tow-away position. 
     
     
         13 . The method as defined by  claim 12 , wherein the tow-away motion is embodied in curved fashion. 
     
     
         14 . The method as defined by  claim 11 , wherein the gripper device picks up at least two containers and at least two closures. 
     
     
         15 . The method as defined by  claim 12 , wherein the gripper device picks up at least two containers and at least two closures. 
     
     
         16 . The method as defined by  claim 13 , wherein the gripper device picks up at least two containers and at least two closures. 
     
     
         17 . The method as defined by claim  1 , wherein with one tow-away motion, the gripper device tows away a plurality of closures. 
     
     
         18 . The method as defined by claim  1 , wherein with one tow-away motion, the gripper device tows away a plurality of closures. 
     
     
         19 . The method as defined by claim  1 , wherein with one tow-away motion, the gripper device tows away a plurality of closures. 
     
     
         20 . The method as defined by  claim 11 , wherein the manipulation unit includes a robot arm, and the gripper device is moved by the robot arm. 
     
     
         21 . The method as defined by  claim 19 , wherein the manipulation unit includes a robot arm, and the gripper device is moved by the robot arm. 
     
     
         22 . The method as defined by  claim 11 , wherein upon closing of the container, the closure is lowered to the container. 
     
     
         23 . The method as defined by  claim 21 , wherein upon closing of the container, the closure is lowered to the container. 
     
     
         24 . The method as defined by  claim 11 , wherein the container and/or the closure is fixed in the gripper device by means of underpressure. 
     
     
         25 . The method as defined by  claim 23 , wherein the container and/or the closure is fixed in the gripper device by means of underpressure. 
     
     
         26 . The method as defined by  claim 24 , wherein the underpressure at the container is independent of the underpressure at the closure. 
     
     
         27 . The method as defined by  claim 25 , wherein the underpressure at the container is independent of the underpressure at the closure. 
     
     
         28 . The method as defined by  claim 11 , wherein the closure is a pharmaceutical stopper, and the method is performed in a machine for pharmaceutical applications. 
     
     
         29 . The method as defined by  claim 14 , wherein the closure is a pharmaceutical stopper, and the method is performed in a machine for pharmaceutical applications. 
     
     
         30 . The method as defined by  claim 27 , wherein the closure is a pharmaceutical stopper, and the method is performed in a machine for pharmaceutical applications.