Abstract:
A rotary capping apparatus and feedback control apparatus for regulating torque applied to screw-on type caps for containers is disclosed. The present system is integrated into a machine suitable for a clean-room environment. The apparatus includes a supporting frame whereon a computer-controlled driving mechanism including a servomotor for transmitting a predetermined torque to an inflatable gripping device actuated by compressed air for gripping and torquing such caps is provided. The inflatable gripper is imparted with automatic vertical height adjustment to accommodate containers of various sizes. The present rotary capping apparatus provides an integrated closed loop feedback control system utilizing a computer for setting parameters for regulating the application of such torque and a servocontroller interfaced for bidirectional communication with the computer. The servocontroller generates an output signal to the servomotor based upon the position of the rotary capping apparatus for precise torquing of the caps onto containers. The rotary capping apparatus also incorporates automated cap and container delivery mechanisms, which provide for synchronous advancement of the caps and containers to different stations within the machine for continuous processing.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a rotary capping apparatus for applying a screw-on type cap to a filled container and, more particularly, to a rotary capping apparatus having an integrated feedback control system to precisely regulate the torque applied to such a container. 
     2. Description of Related Prior Art 
     Rotary capping devices are commonly used in industrial container filling operations such as pharmaceuticals wherein containers are filled with liquid or powder and then capped. In such filling operations empty containers are initially placed in so-called unscrambling devices, which are advanced to a filling line for filling, and then carried to the capping station via conveyor belts, starwheel devices and other apparatus for capping. 
     The screw-on type caps are disposed in unscrambling devices and then fed to the capping apparatus by way of conveyors and/or vibratory guides. Next, the caps are placed on the containers by a so-called pick-and-place mechanism. At the torquing station, the capping apparatus clamps the filled containers and grips the caps pre-positioned on the containers and rotates the caps onto the container. After a predetermined torque is applied by an adjustable chuck, the torquing operation is completed and the installed cap is released. The container clamping means is then released and the container is moved away from the capping apparatus by a suitable conveying means, for example, the belt or starwheel device that initially brought the container to the capping apparatus. 
     The containers capped by such a rotary capping apparatus must be subsequently unscrewed by hand to permit dispensing of the contents. Thus, the caps must be applied with sufficient torquing force so as not to leak during storage and transportation to the consumer, but may not be so tightly applied as to make it difficult for the consumer to remove the cap using only finger force. Consequently, the amount of torque applied must be within predetermined limits. 
     The prior art shows numerous patents in the field of capping devices for controlling the torque applied to such screw-on caps for containers. Most of the devices shown in the prior art use spring or air actuated friction slip clutches. In recent years, magnetic clutches or magnetic drives have also been frequently employed to control the torque applied to the caps. 
     Some examples of rotary capping devices in the prior art which utilize a disk clutch in the capping chuck are described in U.S. Pat. Nos. 4,558,554, 5,148,652 and 5,983,596. These disk clutches are comprised of a number of friction plates stacked together. The amount of torque applied on the caps is controlled by a mechanical adjustment of the pressure in the friction plates. Once the desired torque is applied, the friction clutch will slip and interrupt the connection with the actuating means. At this point the gripping means are gradually opened to disengage from the cap and to allow the next container to be fed into the device, and the application head is lifted away from the container to allow the next container to be fed into the device. The disk clutches can also be actuated by pressure from a compressed air source. These clutches are known as air clutches and permit more accurate control of the pressure on the friction plates through an air pressure regulator and an air pressure gauge. In such air clutches an air piston is carried in the underside of an air clutch hub between a pair of piston seals and a retaining ring. The air clutch mechanism senses the applied torque between the cap and neck of a container and will allow the cap tightening discs thereon to stop once the desired torque is reached. The air pressure regulator can vary the air pressure to the air clutch piston to change the tension on the friction plate assembly thereby varying the torque setting. 
     Some examples of the use of magnetic clutches in the prior art are described in U.S. Pat. Nos. 5,197,258 and 5,437,139. In these patents, a pair of axially aligned circular cylinders is provided. Each of the cylinders is provided with cavities containing magnets. The maximum torque provided by the clutch is controlled by the vertical distance between the two disks through removable spacer disks of varying thickness. By providing a greater number of spacer disks, finer adjustment in torque values can be achieved. 
     The cap gripping mechanisms of the prior art are indeed diverse. Perhaps the most common mechanism is a tapered insert inside an aperture for engagement with caps of different sizes as exemplified in U.S. Pat. No. 5,148,652. Another common device is the use of two or three gripping jaws as disclosed in U.S. Pat. Nos. 4,232,499 and 5,983,596. The capping chucks in these patents have retaining jaws that are adapted to receive and support a cap and to cooperate with an internal torque release lever and torsion spring arrangement operative to release the jaws from the cap after a predetermined rotational torque is applied between the cap and a container. 
     Still another cap gripping mechanism is disclosed in U.S. Pat. No. 5,459,975. The chuck disclosed in this patent has a plate that provides a seat for a flat elastomeric ring, which constrains the ring against radial expansion. The elastomeric ring defines an opening to accommodate the cap to be tested. The housing further accommodates a so-called pusher member, which normally engages the elastomeric ring. A cam applies a force to move the pusher member against the elastomeric ring and this force coacts with the constraining force of the annular plate to cause the elastomeric ring to expand inwardly into tight gripping engagement with a cap disposed within the elastomeric ring permitting torque to be applied to the cap by rotation of the chuck without deforming the cap. 
     Although the methods and apparatus for capping containers described hereinabove are effective, the capping devices of the prior art have inherent limitations, which require further improvement. Due to the difficulty in making adjustments to the torque exerted during the cap-tightening process, the prior art mechanisms for tightening caps onto containers have resulted in leaking containers requiring time consuming and expensive reprocessing. Also the mechanisms for gripping such screw-on caps frequently damage the caps due to the use of excessive and/or non-uniform gripping forces. If too much compression force is applied to the cap, it may be damaged or deformed resulting in faulty application of torque, or the cap may bind and not screw onto the container properly causing the containers to be rejected. 
     The cap gripping mechanisms of the prior art need improvement for the following additional reasons. Such cap gripping mechanisms of the prior art often employ gripping jaws, which are mechanically complex, expensive, difficult to adjust for individual cap sizes and shapes or which are custom made for each different cap size and shape. Such mechanically complex gripping mechanisms also introduce potential operator error into the capping process requiring complicated adjustments and resultant time losses during production set-up for different products. In addition, such mechanical gripping jaws require manual set-up and do not provide for computer-controlled adjustment to different cap sizes. Additionally, prior art capping devices have generally been configured such that when chuck jaws have to be repaired or replaced, either due to changes in the sizes of the caps and/or containers being processed or due to damage to the jaws in use, extensive delays are encountered while the capping apparatus is disassembled to allow the chucking jaws to be serviced. 
     Prior art cap gripping mechanisms that utilize a tapered aperture for engagement with caps depend on frictional engagement between the aperture and the contact area of the cap. It is well known that friction is an unstable parameter and that the friction coefficient varies significantly with ambient conditions and the shape of contact surfaces often causing slippage. This slippage is more likely to occur when there is a relatively small contact area between the cap and tapered aperture of the gripping device. Such slippage will cause rapid wear of the gripping device having a detrimental effect on gripping performance as well. In addition, the fixed size of such tapered-aperture gripping mechanisms does not allow for computer-programmable changeover for different cap sizes. 
     Prior art gripping mechanisms utilizing an elastomeric ring that expands inwardly into tight gripping engagement with the cap have the inherent disadvantage of wearing relatively quickly because the elastomeric ring deforms all of its volume and still has a limited contact area with the cap. Also, different cap sizes and shapes require manual change over to different tooling. In addition, such cap gripping mechanisms do not allow for computer-programmable adjustment for different cap sizes. 
     Prior art torquing mechanisms having a disk clutch in the chucking device have the disadvantage of not utilizing any feedback in compensating significant errors affecting the capping torque. Large variations in such error is due to friction fluctuation in clutch disks due to changes in ambient conditions, especially temperature rising during the slippage, and wearing of slipping surfaces. Any required changeover to different torque settings will require numerous set-up samples and many adjustments and may still result in unstable torque. In addition, the disk clutch type torque mechanism does not allow for computer-adjustable torque over a large torque range. 
     Other prior art torquing mechanisms utilizing magnetic clutches in the capping chuck have the disadvantage of lacking any feedback in compensating for significant error affecting the capping torque. In such torquing mechanisms any changeover to different torque requires manual exchange of so-called spacer disks for varying the magnetic force. In addition, such magnetic clutch torquing mechanisms do not provide for computer-controlled adjustment of torquing changes over the entire torquing range. 
     SUMMARY OF THE INVENTION 
     Accordingly, the present invention is a rotary capping apparatus and feedback control system for regulating the torque applied to screw-on type caps for industrial containers such as pharmaceutical containers. The present capping apparatus and feedback control system is integrated into a machine suitable for so-called clean room production, which provides for automated, sterile processing of such caps and containers. In the present invention such caps are gripped by an inflatable chucking device actuated by compressed air including an elastomeric insert that grasps the entire surface of the cap and not just a few contact points about a top edge of the cap as in prior art devices. Thus, in the present apparatus the pressure applied via the inflatable chucking device can be minimal. This significantly increases the life of the tooling and the stability of performance, reduces pressure on the periphery of the cap, and also prevents deformation of the cap. 
     The present capping apparatus also provides for positive gripping, that is, undesired slippage or slippage as a means of metering the torque is totally eliminated. The gripping force is sufficient to prevent any slippage between the cap and the inflatable chucking device. The minimum required gripping force can be varied for different caps and can be adjusted by a computer-programmable pressure regulator thereby providing programmable changeover for different applications. This eliminates operator involvement and associated human error and reduces production down time by allowing immediate changeover by selection of new parameters from a computer console. The gripping force is released by purging (or vacuuming for increased speed) the pressurized air from the inflatable elastomeric insert surrounding the cap. 
     The present invention is also able to control torque more accurately by the use of a closed loop feedback control system including a servomechanism to control the applied torque. In the present feedback system a comparison between the actual process condition and the desired condition is made. The difference between these two signals (i.e. the error) is fed into the control system, which uses this information to alter the output signal to attain the required torque value calculated as: Error signal=set point−measured value. More specifically, in this application the actual torque being applied on the caps can be continuously fed back into the system for further action until the desired torque applied on the caps is reached. The present apparatus uses a proportional, integral and derivative known as a (PID) control system to control the applied torque for purposes of this invention. Such a PID control system consists of the following major components: a central processing unit (CPU), an input section, and output section, a power supply and a computer program. 
     The torque in the present capping apparatus is applied to the cap via a computer (CPU) controlled servomechanism. The servomechanism is engaged with the inflatable chucking device and executes closed loop PID control with position feedback, which results in precise torque application. Moreover, the value of the applied torque is adjustable from the computer console allowing for immediate changeover to different products, and eliminates any operator error associated with mechanical adjustments. The driver of the servomechanism is a servomotor. When the desired torque value is reached, the CPU immediately interrupts the PID controlling loop and removes voltage from the servomotor. 
     This system represents a significant improvement over the prior art capping devices described hereinabove wherein so-called open-loop control is used. In such devices no information is fed back to the system to determine whether the desired output was achieved and consequently a large error in the desired applied torque may result. Many outside influences affect the operation of such prior art capping devices. For example, the friction coefficient varies significantly with ambient conditions and shape of the cap engaging surfaces often causing slippage. Such slippage is more likely to occur due to a relatively small contact area between the cap and tapered aperture of the gripping chuck. Such slippage will often cause rapid wear of the gripping chuck and will generate heat. Both the resultant wear of the gripping chuck and the heat generated adversely impact the accuracy of the applied torque. 
     The present rotary capping apparatus also features automatic secondary height adjustment functions such that the machine will automatically set the vertical height of the cap dispensing mechanism based on a computer program for a specific product selected. This function is carried out manually in the prior art devices. 
     Other features and technical advantages of the present invention will become apparent from a study of the following description and the accompanying drawings. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The novel features of the present invention are set forth in the appended claims. The invention itself, however, as well as other features and advantages thereof will be best understood by reference to the following detailed description of an illustrative embodiment when read in conjunction with the accompanying figures, wherein: 
     FIG. 1 is a cutaway perspective view of a rotary capping apparatus in accordance with the present invention; 
     FIG. 2 is a perspective view of the inflatable chuck insert of the present invention; 
     FIG. 3 is a perspective view of a cylindrical air tube component utilized in conjunction with the inflatable chuck insert of FIG. 2; 
     FIG. 4 is a cross-sectional view taken through the cap driver assembly of the present invention showing the components thereof; 
     FIG. 5 is an orthogonal view of the gear mechanism within the capping head of the present invention; 
     FIG. 6 is a plan view of the gear mechanism within the capping head of the present invention; 
     FIG. 7A is a cross-sectional view taken through the capping head along line A—A of FIG. 6; 
     FIG. 7B is a cross-sectional view taken through the capping head along line B—B of FIG. 6 showing the inflatable chuck in a deflated condition; 
     FIG.  7 B′ is also a cross-sectional view taken through the capping head along line B—B of FIG. 6 showing the inflatable chuck in an inflated condition; 
     FIG. 8A is a side elevational view of the actuating mechanism for the present capping apparatus showing the capping head in the raised position; 
     FIG. 8B is a side elevational view of the actuating mechanism for the present capping apparatus showing the capping head in the lowered position; 
     FIG. 8C is a side elevational view of the actuating mechanism for the present capping apparatus with the container and cap removed to show the vertical movement of the capping head by the drive carrier shaft and the air/vacuum channel shaft; 
     FIG. 9 is a perspective view of the spline mechanism of the present mechanism connecting the servomotor to a drive shaft; 
     FIG. 10 is a schematic representation of the operation of the present rotary capping apparatus; 
     FIG. 11A is a graphical representation showing the theoretical position of the cap driver assembly generated by the servomotor as a function of time, (t); 
     FIG. 11B is a graphical representation of the actual position of the cap driver assembly generated by the servomotor as a function of time, (t); 
     FIG. 11C is a graphical representation showing the position error, which is the difference between the theoretical position and the actual position; 
     FIG. 11D is a graphical representation showing the torque as a function of time, (t); 
     FIG. 12 is a diagrammatic representation showing the sequence of actions in the present capping process as a function of time, (t); 
     FIG. 13 is a schematic representation depicting the vertical height adjustment function of the present rotary capping apparatus; 
     FIG. 14 is an orthogonal view the present rotary capping apparatus showing the components thereof which effectuate vertical height adjustment with various other components deleted for clarification purposes; and 
     FIG. 15 is a schematic representation depicting the vertical height adjustment function of the secondary supporting frame. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     With further reference to the drawings there is shown therein a rotary capping apparatus in accordance with the present invention, indicated generally at  10  and illustrated in FIG.  1 . The rotary capping apparatus  10  includes a cap placement station, indicated generally at  44 , a cap torquing station, indicated generally at  45 , and an optional filling station, indicated generally at  41 . The present capping apparatus  10  may further include a transparent safety shield (not shown) affixed thereto so as to extend downwardly over the cap driver assembly  401  to protect the operator of the device. It will be appreciated by those skilled in the art that the cap placement station  44 , cap feeder bowl  22 , and optional filling station  41  are all of conventional design. 
     The capping apparatus  10  further comprises a frame structure shown generally at  31 , comprising a plurality of vertical frame members  32 , 33 , 34 , 35 . The frame structure includes two horizontal plates, namely a bottom plate  37  and a top plate  38  that are fixedly attached to the vertical frame members  32 - 35 , which extend therebetween. It will be noted that members  33  and  34  are partially cutaway in FIG. 1 to show the interior of the present apparatus. Four adjustable legs  851 ,  852 ,  853 , and  854  (not shown) are attached to the bottom plate  37  to support the structure and provide for height adjustment, which is accomplished by turning the corresponding foot of each respective leg  851 - 854  in a known manner. The present capping apparatus  10  also includes sheet metal side covers (not shown) which enclose the frame structure. 
     A vibratory feeder bowl or unscrambling device  22  is fixedly secured to a feeder bowl base  39 , which is enclosed by a sheet metal cover  97 . The feeder bowl base  39  is separately supported by legs  855 ,  856 ,  857  (not shown), and  858  (not shown). The feeder bowl  22  functions to receive and dispense caps  40  therefrom for installation on containers  11 . The feeder bowl  22  orients the caps  40  and discharges them in series with their threaded ends down into a transfer track  23 . Caps  40  are transported from the bowl  22  onto the transfer track  23  via the feeder track  99 . A small gap exists between the feeder track  99  and the transfer track  23  such that vibrations from the feeder bowl  22  are not transmitted to the transfer track  23 . 
     The transfer track  23  is mounted on track support plate  80 , which in turn is supported by shafts  81  and  82  as more clearly shown in FIG.  14 . Once a product is selected for processing, the present system will automatically move the transfer track  23  to the correct vertical height required to process the product selection. Shafts  81  and  82  are attached to carrier plate  36  and provide for automatic adjustment of the height of the transfer track  23  as described hereinafter in further detail. 
     It will be appreciated that transfer track  23  has an inlet portion aligned with the outlet portion  22   a  of the feeder bowl  22 . The caps  40  are discharged into track  23  with their threaded ends face down. A track cover (not shown) is mounted on the track  23  to keep the caps from stacking on top of one another. The caps  40  move along the track  23  in the direction indicated by the directional arrow  24  in FIG.  1 . The end of the track  23  is disposed adjacent to the cap placement station  44 . 
     The cap placement station  44  is reciprocated up and down by a shaft  46 , which is positioned within a bearing (not shown) located in the top plate  38 . The shaft  46  is driven pneumatically by an air cylinder mounted on carrier plate  36 . A drive motor  49  is mechanically coupled to shaft  46  by a bracket  66 . A plunger  25  is connected to drive motor  49  and rotated in timed relationship to the capping apparatus cycle. A conventional belt and pulley system (not shown) is used to vary the speed of the motor  49 . 
     The outlet end of the transfer track  23  is provided with a cap retaining means (not shown), which prevents the leading cap  40  from falling off the track  23 . For example, the cap retaining means can be a spring-biased pair of levers or a rubber gasket with cutouts that will open up when downward force is applied to a cap  40 . Adjacent to the cap retaining means there is also provided an optical sensor (not shown) to detect the presence of a cap  40  ready for cap placement and to send a signal to a computer integrated with the present apparatus. The caps  40  slide with their open, threaded ends down by gravity or under the urging of vibratory pulses or other suitable means. Typically the container caps  40  applied by the capping apparatus  10  have an internal right-handed thread formed therein and adapted for threaded cooperation with a mating external thread formed on the upper neck of the containers  11 . In operation, plunger  25  pushes the leading cap  40  onto the containers  11 . The caps  40  are loosely applied at this stage and may be partially threaded onto the necks of the containers  11 . 
     The optional filling station  41  includes a fluid discharge nozzle  42 , tubing  43 , and bracket  56  to hold the discharge nozzle  42 . The remainder of the filling mechanism is of conventional design and is not shown. The tubing  43  carries the fluid from a pumping means (not shown) in the filling mechanism to the discharge nozzle  42 , which is mounted on bracket  56  as shown. 
     The present rotary capping apparatus  10  includes a drive mechanism and associated electronic circuitry and controls that drive and rotate a starwheel  16  that indexes the containers  11  one step at a time as they are filled, capped and torqued. The containers  11  are supported by a bottle support plate  75 , which is fixedly mounted on a plurality of blocks  76  on the plate  38 . Appropriate optical sensors (not shown) are positioned in the capping apparatus  10  to indicate the presence of containers  11  at the start of each cycle. 
     In operation, a plurality of containers  11  having external threads adjacent the top opening thereof are sequentially transported via conveyor system  14  for pick-up at the entry slot  58  of the starwheel  16 . Once all the stations of the capping apparatus  10  have a container  11  in position, the production operation can start. During the production operation of the capping apparatus  10 , the filling, capping and torquing stations all operate simultaneously. Once all the stations have completed their function, the starwheel  16  is indexed and the containers  11  advance one position. A new container will enter the entry slot  58  and a torqued container will exit from the exit slot  59 . The conveyor system  14  is driven in the direction indicated by directional arrow  65  using known driving means (not shown). Optical sensors (not shown) are used to sense the location of the containers  11 . These optical sensors transmit signals via electrical circuits (not shown) that interrupt the operation of the capping apparatus  10  in the event of a malfunction of the equipment. The actuation and deactuation of the various pneumatic cylinders and electrical motors utilized in the present device are controlled by a central processing unit (CPU) that is installed in the control cabinet  29 . 
     At the filling station  42  the containers  11  are filled; at the cap placement station  44  a cap is placed and partially threaded onto the neck of a container  11 ; and at the torquing station the cap  40  is fully threaded to a predetermined torque. When the filled and partially capped containers  11  arrive at the torquing station  45 , a clamping block  17  holds the containers  11  in position. The clamping block  17  is operated by a pneumatic cylinder  18 , which is actuated via an electrovalve (not shown). The pneumatic line and associated electronics to extend and retract the clamping cylinder  18  are omitted for purposes of clarity in FIG.  1 . 
     During the torquing operation the loosely capped containers  11  are held securely at the torquing station against the starwheel  16 . A clamping block  17  mechanically coupled to a pneumatic cylinder  18  is free to move forward and backward to clamp and release the containers  11 . The pneumatic line and associated electronics to extend and retract the clamping cylinder  18  are also omitted for clarity. The clamping block  17  is shown in its extended position in FIG.  1 . Clamping the containers  11  in this position prevents them from rotating when caps  40  are being torqued on to seal the containers. The clamping force with which the containers  11  are secured is adjustable by a compressed air regulator and gauge (not shown) so as to apply only sufficient force to hold the containers  11  against rotation under the applied torque and not so high as to damage the containers. 
     Once a container  11  at the torquing station  45  has been torqued to the desired setting, the clamping block  17  will retract to permit the starwheel  16  to index the next set of containers  11 . The starwheel  16  rotates in a clockwise direction as viewed from the top as shown by directional arrow  48 . A semicircular starwheel guide  15  is disposed to the outside of the starwheel  16 . The starwheel guide  15  and the starwheel  16  are configured and dimensioned such that there is a loose fit of the containers  11  and there is minimal friction between the containers  11  and the guide  15  during operation. The starwheel guide  15  does not extend 360° as it has a section removed to allow incoming containers  11  to enter and outgoing containers  11  to exit. Guide rails (not shown) serve to guide the containers  11  into and out of the starwheel  16 . With each closing of the clamping block  17 , a new container torquing cycle is initiated by the present capping apparatus  10  as described hereinafter in further detail. 
     Referring now to the torquing station  45 , its operation will now be considered in detail. Prior to starting the torquing operation, the capping head  12  is moved to its optimal vertical position by the movement of horizontal carriage plate  36 . Such optimal vertical position is determined by the height of the container  11  to be torqued. The horizontal carriage plate  36  serves as a base for all the mechanisms that must be adjusted for variations in container height. In particular, the servomechanism which drives the cap driver assembly  401  is attached to the horizontal carriage plate  36 . 
     The vertical height adjustment motor  68  is mounted on horizontal plate  36 . Motor  68  controls the height of the capping head  12  by the rotation of shaft  72 , which is transmitted to lead screw  70  by way of belt and pulley system  69 . The lead screw  70  is mounted on plate  37  by bearing  78  such that it is free to turn, but may not move in the vertical direction. A lead nut  89  is attached to the carrier plate  36  and engages the lead screw  70 . When the lead screw  70  is turned the lead nut  89  causes carriage plate  36  to move up and down, which in turn moves the capping head  12  vertically. Vertical shafts  61 ,  62 ,  63  and  64  extend between and are coupled to bottom plate  37  and top plate  38  by a collar on each end of the respective shafts. Collars  90 ,  91 , and  92  are shown in FIG.  1 . Four linear bearings (only three of which are shown namely  94 ,  96 , and  97 ) are disposed on plate  36  to engage and move plate  36  up and down the vertical shafts  61 - 64 . 
     Leadscrew  70  is supported by bottom bearing  78  and top bearing  77  as most clearly shown in FIG.  14 . An ultrasonic transmitter  79  capable of measuring the distance to the carriage plate  36  is disposed on support plate  37  as also seen in FIG.  14 . 
     Referring again to FIG. 1, the capping head  12  is supported by vertical hollow shafts  5  and  6 . Each of the vertical hollow shafts  5  and  6  can move vertically inside linear bearing blocks (not shown) that are fixedly attached to horizontal plate  38 . The outer portion of the shafts  5  and  6  serve as bearing races sliding up and down in the bearing blocks. On the bottom portion, the vertically parallel, hollow shafts  5  and  6  are attached to the vertical motion driver plate  19  by collars  50  and  51 , which are fixedly attached to driver plate  19 . On the top portion, hollow shafts  5  and  6  are mechanically connected to the capping head  12 . 
     Vertical motion driver plate  19  moves up and down by the action of a linear actuator, indicated generally at  74 , and being comprised of pneumatic cylinders  9  and  10 . Cylinders  9  and  10  are fixedly attached to horizontal carriage plate  36 . Plate  36  contains clearance holes (not shown) for accommodating the extension rods of cylinders  9  and  10 , which are shown respectively at  52  and  53 . When the piston rods of cylinder  9  and  10  are retracted the capping head  12  is in its lower position Such lower position is used for torquing the containers  11 . The upper position is used when the containers  11  are moved underneath the cap driver assembly  401 . Thus, the vertical motion driver plate  19  is imparted with vertical movement by the action of pistons  9  and  10 . 
     Compressed air for inflating the elastic gripper  201  is supplied from a compressor means (not shown) via an air/vacuum port  67 . The port  67  is connected to hollow shaft  6  by a channel or orifice inside plate  19 . A regulating valve and pressure gauge (not shown) are utilized by the operator to manually adjust the air pressure in the elastic gripper  201  disposed within the cap driver assembly  401  as most clearly seen in FIG.  4 . This provides control of the gripping force applied to a cap  40  during the torquing operation. At the same port  67  shown in FIG. 1, a vacuum source is also connected to permit quick deflation of the insert  201  at the end of each torquing cycle. 
     In general, the inflatable insert  201  wraps around the entire periphery of a cylindrical cap. However, the insert  201  is also capable of gripping caps of an irregular shape such as caps (not shown) having a pour spout because the insert  201  is sufficiently flexible to conform to an irregular shape. Advantageously, this permits a reduction of the pressure applied to such a cap and avoids damage thereto. 
     Still referring to FIG. 1, a servomotor  8  is mounted on horizontal carriage plate  36 . Servomotor  8  is electrically connected to a servoamplifier. Further description of how the servomotor  8  is driven by the servoamplifier is provided in conjunction with FIG.  8 . At the upper end thereof servomotor  8  includes a spline mechanism, indicated generally at  73 , that drives a rotatable drive shaft  7 . The operation of the spline mechanism  73  will be described in further detail in connection with FIG.  7 . 
     On the lower end thereof servomotor  8  includes an encoder  20 . Encoder  20  is electrically connected to a servocontroller (not shown). Drive shaft  7  extends into the capping head  12  within the hollow shaft  5 . This permits rotational motion of shaft  7  inside the hollow shaft  5  even while shaft  7  is moving up and down. The rotational motion of shaft  7  is transmitted to spindle shaft  4  by a gear mechanism shown and described in connection with FIG.  6 . 
     FIG. 4 depicts a cross-sectional view of the cap driver assembly  401  in its operative position in relation to a container  11  disposed underneath it. In this view the container  11  has been loosely capped at the cap placement station  44 . The cap driver assembly  401  encloses the elastic gripper  201 , which is disposed in functional position around the cylindrical sleeve  301  as shown in FIG.  4 . The elastic insert  201  comprises a cylindrical body  202  and two integrally formed, overhanging flanges  203  and  204  as most clearly shown in FIG. 2. A circular cavity  205  extends along the entire length of the insert  201 . In the preferred embodiment the inflatable insert  201  is a unitary construction being fabricated of any elastomeric material of suitable physical and chemical properties for this application. 
     The inflatable insert  201  is dimensioned such that when the insert  201  is in a deflated condition, it will provide a loose fit with a cap  40  within the cap driver assembly  401  in position over the cap  40  as shown in FIG.  4 . Prior to the torquing operation the inner surface of the elastic insert  201  surrounds the entire circular periphery of the cap  40  as illustrated. 
     The cap driver assembly  401  further comprises a housing  408  having a central cavity  416 . A cap stabilizing plunger  407  is disposed in cavity  416  of the cap driver assembly  401  to ensure that any misaligned caps can be straightened prior to starting the torquing operation. The cap stabilizing plunger  407  can be either rigid or resilient in construction. 
     The top portion of the cap driver assembly  401  has affixed to it a circular plate  413  that is threaded to receive the spindle shaft  4 . The top portion of plate  413  contains a groove for seating an O-ring  415 . When the assembly  401  is threaded onto the spindle shaft  4 , the O-ring  415  is compressed and forms an air tight connection between the capping head  12  and the cap driver assembly  401 . Of course, the cap driver assembly  401  can be easily removed by unscrewing it from the spindle shaft  4 . Thus, the insert  201  is replaceable without requiring major disassembly of the rotary capping apparatus  10  during maintenance procedures. 
     Referring now to FIG. 4 in conjunction with FIG. 1, the sequence of operations for a capping cycle will now be described. The starwheel  16  first advances a filled and loosely capped container  11  to the torquing station  45 . Movement of the containers  11  and the capping head  12  is synchronized such that each container  11  is positioned vertically and axially underneath the cap driver assembly  401 . Clamping block  17  clamps the container  11  underneath the cap driver assembly  401  in preparation for torquing. The capping head  12  then descends to its lowermost position, which is slightly above the upper end of the container  11 . The capping head  12  moves down a predetermined distance, which has been determined by the initial height of the cap driver assembly  401  and the height of the container  11 . 
     Thereafter, the elastic gripper  201  inflates into tight gripping engagement with a cap  40  disposed within the insert  201  such that torque can be applied to the cap  40  by rotation of the cap driver assembly  401  without deforming or damaging the cap  40 . It will be appreciated by those skilled in the art that the elastic insert  201  can expand only in a direction toward the longitudinal axis A of the cap driver assembly  401  due to the constraining effect of the surface of the sleeve  301 . 
     FIG. 3 illustrates the cylindrical sleeve  301  including a plurality of holes  303  formed around its body. In the preferred embodiment four holes of approximately ¼″ diameter, each located 90 degrees away from the prior hole are formed at the same vertical height. The holes  303  permit the passage of compressed air. The sleeve  301  is preferably made of stainless steel to avoid corrosion. 
     With further reference to FIG. 4, the mechanism for gripping and tightening a cap will now be described in greater detail. Compressed air is fed through bore  403  in spindle shaft  4 . The compressed air then flows into cavity  405 , into bores  404  and  406 , and air chamber  402 . The air flows through the holes  303  of sleeve  301  and inflates the elastic insert  201 . Note that the elastic insert  201  is shown in its deflated position in FIG.  4 . Upon inflation, the elastic insert  201  tightly grips the circular periphery of the cap  40  in cavity  416  of the cap driver assembly  401 . After securing the cap  40 , the cap driver assembly  401  turns to tightly screw the cap  40  onto the neck of container  11  to the predetermined torque programmed in the console  27 . 
     Servomotor technology and a computer program are utilized to stop the servomotor  8  at a predetermined torque setting. Parameters for setting the proper torque are entered in operator console  27 . The console is elevated by post  28  as seen in FIG. 1 for ease of use. Briefly, it will be noted that the servomotor  8  is able to detect the error in rotation that is caused by the resisting force exerted on the cap  40 . As a rule the greater the error, the greater the torque applied. The operation of this servomotor  8  will be explained hereinafter in further detail. 
     Once the predetermined torque is attained, vacuum is applied through port  67  on plate  19  illustrated in FIG.  1 . The vacuum is transmitted through spindle shaft orifice  403  and exerts negative pressure on the insert  201  and contracts it to its original condition. In this manner, the cap driver assembly  401  provides for a quick release of the associated cap  40  before the chuck moves back up to start a new cycle. At that point, the cap driver assembly  401  is raised and the container  11  is indexed away from the cap torquing station. At the same time, a newly capped container  11  arrives at the torquing station to start the next cycle. 
     FIG. 5 is an orthogonal view of the gear drive mechanism within the capping head  2  of FIG.  1 . This mechanism serves to transmit a precisely controllable torque to each cap  40 . Hollow shaft  5  is fixedly attached to the housing  508  of capping head  2  by means of suitable fasteners such as screws (not shown). The housing includes a top plate  509  and a housing body  510 . The housing body has a central cavity  512  for accommodating a gear mechanism and two parallel side cavities for accommodating the two vertical shafts namely driver carrier shaft  5  and air/vacuum channel shaft  6  (shown in FIG. 1) which move up and down together to impart vertical movement to the capping head  12 . Rotatable shaft  7 , which is disposed inside driver carrier shaft  5  carries rotational motion in a clockwise direction as viewed from the top in FIG.  1  and FIG.  6 . At its lowermost portion, rotatable shaft  7  is engaged with the motor shaft via spline mechanism  73  to be described hereinafter in further detail. External spur gear  501  is affixed to the end of rotatable shaft  7 . At its uppermost portion, rotatable shaft  7  is engaged with spur gear  501 . Rotatable shaft  7  moves up and down with driver carrier shaft  5 . 
     When the input torque motor turns shaft  7  and the attached external spur gear  501  in a clockwise direction, this rotational movement is transmitted to counterclockwise movement of external spur gear  507 , which in turn transmits clockwise rotation to external spur gear  503 . Spur gear  503  transmits the rotational motion to spindle shaft  4 , which in turn transmits it to the cap driver assembly  401 . The capping head  12  is provided with antifriction bearings such as ball bearings  504 ,  505  and  506 , which respectively support shafts  4 ,  7 , and  507 . 
     FIG. 6 is a top view of the capping head  12  with the top plate  509  removed showing the arrangement of the gear mechanism and shafts. Air/vacuum carrier shaft  6  is parallel to driver carrier shaft  5  and moves the cap driver assembly  401  up and down in conjunction with driver carrier shaft  5 . Shaft  6  provides pressurized air and vacuum for the elastic gripper  201 . The clockwise rotation of the spur gear  501  when shaft  7  turns is shown by the directional arrow  604 . Spur gear  502  rotates in a counterclockwise direction as shown by directional arrow  603 . Spur gear  503  rotates in a clockwise direction as shown by directional arrow  602 . A channel  601  extends from shaft  6  to carry the air/vacuum from shaft  6  to channel  403  (refer to FIG.  4 ). The channel  601  is formed in the top plate  509  and cannot actually be seen when the top cover  509  is removed, but its location is shown in FIG. 6 for purposes of clarification. 
     FIGS.  7 A through  7 B′ are a series of cross-sectional views taken through the capping head  12  and the cap driver assembly  401  depicting the arrangement of the internal components thereof and their operation including the gear mechanism, shaft rotation and, compressed air/vacuum flow during actuation of the elastic gripper  201 . 
     FIG. 7A is a sectional view taken along the line A—A of FIG. 6 showing capping head  12  and the cap driver assembly  401  and the components thereof, This illustration permits a full view of the rotatable drive shaft  7 . The direction of rotation of rotatable drive shaft  7  and cap driver assembly  401  is shown by directional arrows  723  and  724  respectively. 
     FIG. 7B is a sectional view of the capping head  12  and the cap driver assembly along the line B—B of FIG.  6 . The interior channel  720  of the hollow shaft  5  is illustrated. The channel  720  inside shaft  5  permits the compressed air to exhaust from the gripper  201  via air chamber  402 , orifice  406 , and cavity  405  either by opening a valve to exhaust the air or by applying vacuum to exhaust it more rapidly. Directional arrow  721  shows the direction of flow of the exhausted air or the applied vacuum. The gripper  201  is shown in a deflated condition in this view. 
     FIG.  7 B′ is a sectional view along the line B′—B′ of FIG.  6 . It is similar to FIG. 7B except that it illustrates the gripper  201  in an inflated condition. Compressed air enters the cavity  725  between the insert  201  and sleeve  301 , which expands under the air pressure and actuates the gripper  201  to permit the gripping and torquing of caps  40 . The path of the compressed air for actuation of the gripper  201  is indicated by directional arrow  722  which shows air flowing into channel  720  of the rotatable drive shaft  5  into channel  601 , orifice  403 , orifice  406 , air chamber  402 , holes  303  and into cavity  725  within the insert  201 . 
     Referring to FIG. 9 there is shown therein a spline mechanism, indicated generally at  73 , which mechanically couples the servomotor  8  to the drive shaft  7 . The spline mechanism  73  transfers rotations from the servomotor  8  to the rotatable shaft  7  in such a way that allows drive shaft  7  to move up and down simultaneously with rotation. As described hereinabove, downward movement of the capping head  12  is required for positioning the cap driver assembly  401  for gripping of caps to be torqued. After the torquing cycle is completed, the gripper  201  is released and the cap driver assembly  401  moves upwardly to allow the capped container to be removed and a new container to be brought into the torquing station. This up/down movement with simultaneous rotation of the drive shaft  7  is facilitated by the construction of the spline mechanism, indicated generally at  73 , as seen in FIG.  9 . Disk  701  is fixedly attached to the output shaft  704  of the servomotor  8 . Disk  701  includes a plurality of finger shafts  703  permanently attached thereto. Disk  702  includes mating holes (shown in broken lines in FIG. 9) sized to a slip fit condition with each of the finger shafts  703  such that disk  702  is able to slide up and down in engagment with finger shafts  703 . Disk  702  is fixedly attached to rotatable shaft  7 , which carries the rotational motion when rotatable shaft  7  is moving up and down or when shaft  7  is stationary. 
     Referring to FIGS. 8A-8C there is shown an orthogonal view of the drive mechanism of the rotary capping apparatus  10  with the starwheel  16  removed for clarification purposes. FIG. 8A shows the capping head  12  in the raised position. When the capping head  12  is in such raised position, a container  11  can be delivered to a position underneath it for torquing by the cap driver assembly  401 . Block  76  includes linear bearings (not shown) to guide the upward and downward movement of shafts  5  and  6  carrying the capping head  12  from a raised to a lowered position Cylinder rods  52  and  53  projecting from cylinders  98  and  99  are shown in an extended position in FIG.  8 A. The servomotor  8  is provided with leads  822 , which are electrically connected to the servoamplifier (not shown). The encoder  20  is also provided with leads  821 , which are electrically connected to the servocontroller (not shown). 
     FIG. 8B is similar to FIG. 8A except that the capping head  12  is shown in its lowermost position. It will be noted that the cap  40  being applied to container  11  cannot be seen as it is inside cap driver assembly  401 . When the capping head  12  moves to this lowermost position, the cylinder rods  52  and  53  are retracted within cylinders  9  and  10  and cannot be seen. At the position shown in FIG. 8B, the capping head  12  is ready to drive the cap  40  onto the neck of the container  11  and torque it to the preset value. 
     FIG. 8C illustrates the drive mechanism again in the raised position of FIG. 8A with the container  11  and cap  40  removed for purposes of clarity to show the vertical movement of the capping head  2  is supported by the drive carrier shaft  5  and the air/vacuum channel shaft  6 , which move up and down together. 
     FIG. 10 is a schematic representation, which illustrates the operation of the rotary capping apparatus of the present invention. The operation of the present apparatus is controlled by a so-called closed loop control system. A closed loop system being one in which an actual measured variable (i.e. angular position) is sent back as feedback to the servocontroller  803  for comparison with the desired variable (i.e. angular position error) to provide control based on the error found in the comparison (i.e. desired position vs. actual position). The error between desired and actual position represents the torque applied to the cap when applying it to a container. When the desired torque has been applied, the control system stops applying torque, the container  11  is removed from the cap driver assembly  401 , and a new container is moved into position. 
     Still referring to FIG. 10, the present control system includes an operator console  27 , a central processing unit (CPU)  801 , a servocontroller  803 , a servoamplifier  804 , a servomotor  8  and an encoder  20 . The console  27  is connected to the CPU  801  for entry of parameters that control the movement and gripping action of the cap driver assembly  401 . The servocontroller  803  is interfaced with CPU  801  for bi-directional communication. 
     The servocontroller  803  generates a theoretical position profile, which is a function of time, t: Pos-theor (t). The servocontroller  803  receives position feedback from an incremental position monitoring device such as encoder  20 . The servocontroller  803  generates an output control signal S(t) which is sent to the servoamplifier  804 . The output control signal is a function of time, t. The servocontroller  803  executes proportional, integral and derivative (PID) control as follows: The position feedback from the encoder  20  is sent to operating block  806  which generates the real position, POS_REAL(t) of the rotary capping apparatus as a function of time, t. The POS_REAL(t) is fed into a comparator junction  802 . 
     In one embodiment of this invention, an incremental quadrature encoder is used with two channels: A and B, generating 500 pulses per revolution Channels A and B are shifted by +90 or −90 electrical degrees in relation to each other, depending on the direction of rotation. The servocontroller  803  can read incoming pulses from the encoder  20  and calculate precisely the current position of the drive shaft: POS_REAL(t). At the same time, junction  802  receives the theoretical position POS_THEOR(t) from operating block  805 . At the beginning of each cap torquing cycle, POSITION PROFILE GENERATOR block  805  generates the POS_THEOR(t) from parameters received from the CPU  801 . These parameters include the angular acceleration of the rotation of the capping apparatus, the angular velocity of the rotation of the present capping apparatus and an allowable position error, E LIMIT. These parameters can be changed via the console  27 . 
     At junction  802  the theoretical position generated, POS_THEOR(t) is compared to the real position POS_REAL(t) and a Position Error, E(t) is generated. The mathematical relation is E(t)=POS_THEOR(t)−POS_REAL(t). This comparison is carried out by adding the theoretical position as a positive number and adding the real position as a negative number as indicated by the positive and negative symbols adjacent to junction block  802 . The PID FILTER block  807  then generates the control signal S(t) as a function of the position error E(t). S(t) is the PID output and is obtained from the following well known mathematical expression for PID control: S(t)=Kp*E(t)+Ki ∫E(t) dt+KdE(t)/dt. Kp*E(t) is the proportional control term, Ki∫E(t) dt is the integral control term and +KdE(t)/dt Ki is the derivative control term S(t) is the signal output. Kp, Ki and Kd are constant coefficients, which are experimentally determined and adjusted to produce an optimal control signal S(t), The adjustment of Ki and Kd results in greater stability of the motor. 
     For purposes of illustration, one embodiment setting Ki=0 and Kd=0 will provide an adequate control signal S(t). Thus, S(t)=Kp*E(t). The servocontroller  803  is programmed to set S(t) to zero when the position error E(t) exceeds a certain predetermined value E_LIMIT. The E_LIMIT value is adjustable from the console  27  and is stored in the CPU memory. If the error E(t) is less than the predetermined value E_LIMIT, the control signal is set to S(t)+Kp*E(t). 
     On the other hand if E(t) is greater than E_LIMIT, then S(t) is set to zero. At this point the FLAG is set to 1. Setting the FLAG to 1 causes the cycle to start anew. Thus, the maximum value of the signal S(t) before it becomes zero is Max(S)=Kp*E_LIMIT. The signal S(t) is sent from the servocontroller  803  to the servoamplifier  804  where it is converted to a value of electrical current I(t) by the following mathematical relationship: I(t)=GAIN*S(t), where GAIN is a constant coefficient. The maximum current I(t) is related to the maximum signal S(t) as follows: Max (I)=Gain*Max (s); or Max (I)=Gain KpE_LIMIT. The servoamplifier  804  controls the servomotor  8  with the current I(t). The servomotor  8  in turn converts the electrical current I(t) into the torque TQ(t) that is applied to the motor shaft. TQ(t)=Ka*I(t), where Ka is a constant coefficient. The maximum torque is related to the maximum current as follows: Max TQ=Ka*Max (I); or Max TQ=Ka*GAIn*Kp*E_LIMIt. Considering that Ka, Gain, Kp are constants, Ka*Gain*Kp is also a constant. Thus, Max TQ=CONSTANT E_limit. In summary, the servocontroller  803  reads the maximum torque after capping is completed and the cap driver assembly  401  cannot rotate any further due to the solid stop. 
     The position error (difference between Pos_THEOR(t) and POS_REAL(t) increases quickly since the theoretical motion profile, POS_THEOR(t) is calculated based on the continuous velocity, so POS THEOR(t) continues to increase. However, POS_REAL(t) is restricted and remains almost unchanged. As soon as the position error E(t) exceeds the preset limit E_LIMIT, which results in reaching the torque associated with it according to MaxTQ=CONSTANT*E_LIMIT, the signal S(t) will be reset to zero by the servocontroller  803  and consequently I(t)=0 as well as TQ(t)=0. When the servoamplifier  804  receives the incoming signal of S(t)=0, it will remove any voltage applied to the servomotor  8  resulting in no current being sent to the servomotor, i.e. I(t)=0. The servomotor  8  will release the torquing force from its shaft, and the servocontroller  803  will set a flag in block  808  noting this event for the CPU  801 . As can be seen from MAXTQ=CONSTANT*E_LIMIT, the maximum applied torque is adjustable by setting the value of E_LIMIT. This value is entered and adjusted from the console  27 . 
     Still referring to FIG. 10, the torque produced by the servomotor  8  is transmitted to the cap driver assembly  401  by way of spline mechanism  73 , rotatable shaft  7 , and the gear mechanism  511  as described in connection with FIGS. 1 and 9. At the same time that the hereinabove described servomechanism is controlling the torque of the cap driver assembly  401 , the CPU  801  is operating the gripper  201  by inflating it prior to torquing and deflating it after torquing. Prior to any torquing action, the cap driver assembly  401  is moved to its lowest vertical position by the action of the vertical motion driver plate  19 , which moves the cap driver assembly  401  up and down as previously described in conjunction with FIG.  1 . An air pressure source  810  provides air to pneumatic switch  809 , which sends air through the air/vacuum channel shaft  6  to the gripper  201  in the cap driver assembly  401 . At the end of each cycle, the pneumatic switch  809  is activated and air pressure is cut off. Instead of air pressure, a vacuum source  811  provides vacuum through the pneumatic switch  809  and air/vacuum channel shaft  6  into the gripper  201 . This permits rapid deflation of the gripper  201 . After deflation, the cap driver assembly  401  is raised by the action of vertical motion driver plate  19 , which is activated by linear actuator  74 . Linear actuator  74  is activated by an electrovalve (not shown). 
     FIG. 11 consists of four related diagrams. The first diagram, FIG. 11A shows the theoretical position of the cap driver assembly  401 , POS_THEORET(t) that is generated by the servomotor  8  as a function of time, t. FIG. 11B shows the actual position of the cap driver assembly  401  as a function of time. FIG. 11C shows the position error, which is the difference between the theoretical position POS_THEOR(t) and the actual position POS_REAL(t). At the beginning of the cycle, the position error is small. As a cap  40  is driven onto a container  11 , there is a point at which the position error begins to increase. This is the point at which the cap  40  has been completely screwed onto a container  11  and starts being torqued. At a further point in time, the position error reaches the value of E-Limit, at which point the cycle is stopped. FIG. 11D plots the torque as a function of time. The torque limit TORQUE_LIMIT is reached when E-LIMIT is reached. 
     FIG. 12 depicts a timing sequence illustrating when specific actions in the present capping process occur. The horizontal lines in FIG. 12 represent time proceeding from left to right. In FIG. 12 if a portion of a horizontal line is raised it indicates that the subject device is active. The production cycle begins at t=0 time. Prior to the cap driving cycle, a new container  11  is moved in place by the star wheel  16 . This happens between t=0 and t=1. During this time, the cap driver assembly  401  is in the up position, vacuum to the inflatable gripper  201  is applied, the cap driver assembly  401  is not being rotated, the torque limit has not been reached and the container clamping mechanism is released. 
     At time t=1 a container  11  has been moved into position, the cap driver assembly  401  is commanded by the CPU to move down, and the container  11  is held in place by the clamping mechanism. At time t=2 air pressure is applied to the gripper  201  so that a cap  40  is held in position. Thereafter, at t=3, the servomotor  8  is commanded to apply torque and to rotate the cap driver assembly  401  to screw the cap onto the container. This is continued until t=4, at which time the torque limit is reached. The cap  40  initially introduces a small resistance to the servomotor  8 . Thus, the torque and associated position error E(t) of the servomotor shaft is relatively small until the cap is screwed on almost all the way at which time the resistance starts to increase. As soon as the value of E(t) exceeds the limit (i.e. E-LIMIT) as discussed hereinabove, the current (i.e. I(t)) is removed from the servomotor  8  via setting S(t)=0, where E(t) is a position error calculated as a difference between theoretical position and a real position of the motor shaft. S(t) is the outcome of the PID filter filtering E(t), I(t) is proportional to the S(t) signal and motor torque TQ(t) is proportional to I(t). S(t) is proportional to E(t), thus TQ(t) is proportional to E(t). Since Max E(t)=E_LIMIT, Max TQ(t) is proportional to E_LIMIT. The event of E(t) exceeding E LIMIT is marked as t=4 and the motor  8  will stop a moment later as a result of mechanical inertia of the load attached to its shaft and the fact that the current I(t) was set to zero via S(t)=0. Immediately after that, at time t=6, the gripper  201  is commanded to release by application of vacuum. After the cap is released, at time t=7, the cap driver assembly  401  is commanded to move up to clear the container movement. At time t=8, the cap driver assembly  401  is in its up position and the container clamping mechanism is commanded to release the container. A moment later, at time t=9, the machine is ready to repeat the cycle. 
     Thus, again at time t=1, a cap is placed on the container at the prior position in preparation for torquing in the next cycle. At this juncture optional functions like filling the container with a liquid or powder may take place. These functions last until time t=x. The time t=8 will occur after t=7 or t=x, whichever is larger. 
     FIG. 13 is a schematic representation depicting the operation of the feeder bowl automatic height adjustment function of the present rotary capping apparatus. This feeder bowl automatic height adjustment of the present invention is also controlled by a closed loop control system. 
     Referring to FIGS. 13 and 14 collectively, the present height adjustment system includes the operator console  27 , the central processing unit (CPU)  801 , the servocontroller  803  as described hereinabove and, in addition, an ultrasonic transmitter  76 , the horizontal carriage plate  36 , the height adjustment motor  68 , an amplifier  910  and operating blocks  911  and  912 . 
     In the height adjustment system the console  27  is connected to the CPU  801  for entry of parameters that control the height of the capping head  2 . A signal from the ultrasonic transmitter representing the distance  85  shown in FIG. 14 to the horizontal carriage plate  36  is sent to the CPU  801  for positional feedback of the horizontal carriage plate  36 . When the height adjustment motor  68  rotates, the horizontal carriage plate  36  moves up or down, and the capping head  12  moves with it. The distance between the carriage plate  36  and the bottom plate as at  85  corresponds to the height of container  11 . The container height parameter is entered from the console  27  and stored for a particular product. When a new product is selected with a new value of height or when the height is manually changed from the console  27 , the CPU  801  compares the height value with the measured distance as at  85  from the ultrasonic transmitter in operating block  911  shown in FIG.  13 . If the distance  85  is greater than the height of the container  11 , then the CPU  801  sends a signal to the amplifier  910  which is in turn sent to the height adjustment motor  68  rotating the lead screw  70  in a clockwise direction moving the horizontal carriage plate  36  and thus the capping head  12  downward. On the other hand, if the distance  85  is less than the height parameter in the console  27 , then lead screw  70  is rotated in a counterclockwise direction moving the horizontal carriage plate  36  upward. Thus, depending on the difference in these two values, the CPU  801  sends a signal to drive the horizontal carriage plate  36  up or down until said difference is small with an allowable tolerance. Thus, the present apparatus will automatically adjust the height of the feeder bowl  22  to the correct level for the container being processed. 
     FIG. 14 is an orthogonal view of the present rotary capping apparatus  10  depicting the vibratory bowl  22  and the vibratory bowl support frame, indicated generally at  934 , with the sheet metal cover  97  as seen in FIG. 1 removed to permit viewing of the internal components of the vibratory table adjustment mechanism. The vibratory bowl  22  is mounted on the free standing frame  934  such that vibrations are not transmitted to the rotary capping apparatus  10 . 
     Frame  934  includes four vertical members of which only two, namely  931  and  932  are shown in FIG.  14 . The lowermost portion of each vertical member is disposed within a thrust bearing. Only thrust bearings  928  and  929  associated with members  931  and  932  can be seen in this view. Such thrust bearings carry the weight of the frame  934  and bowl  22 . Frame  934  is also provided with a top horizontal plate  930  and a bottom horizontal plate  933 . The frame  934  can be moved up or down via rotations of motor  921 . A leadscrew is attached to each of the vertical frame members; however, only leadscrews  855  and  856  associated with members  931  and  932  can be seen in FIG.  14 . 
     A drive pulley  925  is attached to the shaft of motor  921  to drive the upward/downward movement of the frame  934  via belt  926 . Although each leg of the vibratory frame is provided with such a pulley, only pulleys  923  and  924  can be seen in this view. It will be understood that belt  926  surrounds and engages all four pulleys. Rotation of the pulleys in one direction causes the frame  934  to move upwardly and rotation in the opposite direction causes the frame  934  to move downwardly. 
     A sensor  87  is mounted on the rotary capping apparatus  10  to detect the lower edge  920  of the vibratory bowl  22 . More particularly, sensor  87  is mounted on bracket  86 , which is in turn mounted on track support plate  80 . The track support  80  also carries the feeder track  97 . The track support  80  is supported by a set of shafts  81  that are attached to carriage plate  36 . A feeder track  97  for the disbursement of caps  40  is fixedly attached to the vibratory bowl  22 . Container caps  40  exit the vibratory bowl  22  through feeder track  97  and are delivered into the transfer track  23 . 
     Still referring to FIG. 14, the height adjustment is calculated based on an offset such that the feeder track  87  and the transfer track  23  are at the same level and the container caps  40  can move freely. During installation of the machine, this is accomplished by moving the sensor  87  on bracket  86  such that it detects the edge  920  of the vibratory bowl when the feeder track  97  and transfer track  23  are on the same level. Thereafter, the height adjustment of the tracks  97  and  23  is automatic. 
     When an operator enters a new container height in the CPU  801  via the console, the height of transfer track  23  is determined by the procedure described hereinabove in connection with FIG.  13 . As the sensor  87  is moved on transfer track  23  to accommodate the new height setting, the sensor moves away from edge  920  of the vibratory bowl  22 . The CPU  801  then commands motor  921  to rotate and move the vibratory bowl frame  934  up or down to align the edge of the bowl  22  with the sensor  87 , which event is detected by the sensor and a signal is sent to the CPU  801 . A rotating wheel (not illustrated) or other alternative transfer means is functionally disposed above the caps  40  within transfer track  23  so as to advance the caps  40  into position at the cap placement station  44 . 
     FIG. 15 is a schematic diagram depicting the operational steps followed by the present capping apparatus in order to move the vibratory bowl frame  934  to a new height setting. As described hereinabove, an operator first enters a desired new height in the console. This is represented by step  974  in FIG.  15 . In the next step  975 , the new height is sent to the CPU. The CPU then sends the new height parameter to operating block  976  which determines whether the sensor  87  is on. If the sensor  87  is on, then a signal is sent to the motor  921  for raising the vibratory frame as at block  977  in FIG.  15 . If the sensor  87  is not on, then a signal is sent to the motor  921  to lower the vibratory bowl frame  934 . After the motor  921  is operated to lower the frame  934 , the sensor is checked again as at block  979 . If the sensor  87  is still not on, this process continues and the operator continues to lower the vibratory frame. Once the sensor  87  is on, the motor is stopped as at block  980 . When the present apparatus recognizes that the sensor  87  is on the edge  920  of bowl  22  as at box  981 , a completion signal is transmitted to the CPU. 
     It will be apparent from the foregoing description that this invention provides for a variety of improved features with respect to rotary capping apparatus and to closure grasping and torquing apparatus. The level of torque employed in securing caps on containers is digitally and precisely adjustable and can be conveniently reset by entering the appropriate parameters on a computer console. 
     Although not specifically illustrated in the drawings, it should be understood that additional equipment and structural components will be provided as necessary, and that all of the components described hereinabove are arranged and supported in an appropriate fashion to form a complete and operative system incorporating features of the present invention. 
     Moreover, although illustrative embodiments of the invention have been described, a latitude of modification, change, and substitution is intended in the foregoing disclosure, and in certain instances some features of the invention will be employed without a corresponding use of other features. Accordingly, it is appropriate that the appended claims be construed broadly and in a manner consistent with the scope of invention.