Abstract:
The present invention relates to methods and an apparatuses for loading and unloading objects into/from corresponding cavities in holders at a high count rate. For loading, a plurality of objects are present on an object path which mutually converges with a holder path. For unloading, the object path mutually diverges from the holder path. Integration of this method and apparatus respectively into a method of manufacturing unleaky containers and a corresponding apparatus for leak testing containers is also proposed.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    In many production line situations, such as in manufacturing or testing situations, it is required to load objects such as containers into cavities in holders therefor, and subsequently to unload them from the holders. In comparison to merely transferring such objects from one conveyor to another, this loading in particular requires relatively precise positioning of the object such that it is deposited accurately into its cavity in its respective holder. This is all the more important when the object is fragile, such as e.g. in the case of glass syringes, since they must be handled and deposited gently to avoid breakage. Such holders are used as caddies to transport the objects through at least part of the manufacturing and/or testing system, and are commonly known in the field of leak testing as “pucks”. It should be noted that these holders thus do not form part of the consumer product being manufactured or tested, rather are used to assist in the holding and transport of the objects through at least part of the manufacturing or testing system, the objects themselves constituting at least part of the end product. Typically, this is achieved by using a robot to transfer the objects into the holders by collecting each object from a conveyor individually and depositing it as gently as required in its respective holder, before returning to collect another object and repeat the process. Unloading the objects from the holders is performed in the reverse sequence. Modern robots are fast enough to perform these tasks even when the container holders are provided in a continuously-moving stream. However these processes are still relatively slow, and depending on the geometry of the loading arrangement, are limited to loading and unloading about 60 objects per minute. Furthermore, the movement of the robot is typically jerky, exhibiting high accelerations, which risks damaging the objects if they are fragile. 
         [0002]      FIG. 1  illustrates schematically such a prior art robot-based apparatus for loading objects into holders. Holders  10  provided with cavities  17  are conveyed sequentially in a stream on a conveyor mechanism  11 , which may be of any known type such as linear, curved, or rotary. Objects  12 , which may be of any type or shape, are conveyed along an object input conveyor  13 , from which they are collected one-by-one by grippers  16  of a robot arm  14  of a robot  15 . These grippers  16  may be of any known type such as pincers, hooks, one or more suckers, or similar. The robot arm  14  is movable both parallel and perpendicular to the plane of conveyor mechanism  11 , so as to deposit objects  12  into respective cavities  17 . After depositing an object  12  in the cavity of a holder  10 , the robot returns to collect another object  12  from the object input conveyor  13 , and the process repeats. If the holders  10  are moving continuously, the robot arm  14  follows this movement in synchronicity therewith, and the grippers  16  release the objects  12  either when they have reached their final insertion depth in the holders  10 , or just before such that the object  12  falls a short distance into its resting place in its respective holder  10 . 
         [0003]    Unloading objects  12  from container holders  10  is carried out by an essentially mirror-image apparatus with the same components but operated in reverse. In the interests of conciseness, such a prior art arrangement need not be described further. 
         [0004]    When utilising such a robot-based system, the only way to increase the throughput is, besides accelerating operation of the one robot, to use multiple robots, which is expensive and entails high maintenance costs and increased risk of parts breakage. 
         [0005]    An object of the invention is thus to overcome the above-mentioned disadvantages of the prior art and thereby to provide apparatuses and methods for loading and unloading objects from cavities in holders at a significantly greater rate than possible with prior art methods and apparatuses, thereby minimising acceleration forces exerted upon the objects. 
         [0006]    The invention also concerns the application of these methods and apparatuses to a method of manufacturing closed, unleaky containers, and an apparatus for leak testing containers respectively. 
       SUMMARY OF THE INVENTION 
       [0007]    An object of the invention is attained by a method of loading objects into cavities of holders. Holders are conveyed along a holder path, and each holder comprises at least one cavity for receiving an object to be loaded into the cavity in a loading-direction. This loading direction would in practice normally be perpendicular to the direction of travel of the holders, however this does not have to be the case. 
         [0008]    In the field of leak testing, these “holders” are commonly referred to as “pucks”. 
         [0009]    Objects are transported along an object path extending to a loading area. The object path and the holder path are configured to mutually converge in a direction parallel to the loading-direction as distance along the object path to the loading area decreases. In other words the object path and the holder path converge approaching the loading area. In the loading area, and object is loaded into a cavity. Importantly, a plurality of objects are transported simultaneously at different positions along the object path, and likewise a plurality of holders are conveyed simultaneously at different positions along the holder path. In consequence, at any given time a plurality of objects are at different stages of being transported so as to be loaded into corresponding cavities in corresponding holders, both along the loading path and on the loading direction. This thus permits significantly faster rates of loading than the above-mentioned prior art robot-based system, in which only a single object is in the process of being loaded into a cavity at any given time. In addition, the loading is in consequence smooth and continuous. 
         [0010]    In one embodiment of the above-mentioned methods, the object path is configured to approach the holder path and in another embodiment, the holder path is configured to approach the object path. These two possibilities naturally also include the possibility of both the holder path approaching the object path while the object path approaches the holder path. 
         [0011]    In an embodiment of any of the above-mentioned methods, the method further comprises first collecting objects sequentially from a collecting area upstream of the loading area, providing a flow of objects onto the object path. 
         [0012]    In an embodiment of any of the above-mentioned methods, either the object path, the holder path, or both are linear, curved, rotary, or any combination thereof. This provides flexibility in design of the shape of the paths considered in the loading direction. 
         [0013]    In an embodiment of any of the above-mentioned methods, in which the object path is at least in the loading area above the object path, the objects are dropped a non-vanishing specified distance (measured from their respective cavities and considered parallel to the loading direction) into their respective cavities. This prevents object supports from “bottoming out” and risking pushing the objects too firmly into the cavities, possibly resulting in damage and/or wear to the mechanism. The objects are thus released while they are still above their ending position and fall the last short distance into their respective cavities. In a further embodiment thereof, the objects are dropped onto a shock-absorbing member, reducing the risk of damage to the objects in the case that they are fragile and/or frangible. This shock-absorbing member can be made of any convenient shock-absorbing material, such as rubber, nylon, or similar. 
         [0014]    In an embodiment of any of the above-mentioned methods, at least part of the holders comprise a plurality of cavities, and a plurality of objects are deposited into this plurality of cavities, either simultaneously as a batch or sequentially. This enables increasing the throughput rate of objects even further due to being able to load more objects into a single holder. 
         [0015]    In an embodiment of any of the above-mentioned methods, the transporting and/or the conveying is carried out continuously, that is to say that the objects are loaded in a continuous stream in quick succession, giving a high throughput rate without a high acceleration of the objects. 
         [0016]    In an embodiment of any of the above-mentioned methods, the transporting and conveying are carried out synchronously with each other. This results in a simple method, since both the transporting and conveying are fully synchronous with each other, no complicated arrangements are required to ensure that an object and its corresponding holder pass through the loading area at exactly the right velocities, since this is then inherent in the synchronicity. 
         [0017]    In an embodiment of any of the above-mentioned methods, respective objects along the object path travel in the loading area at a velocity in a plane perpendicular to the loading direction substantially equal to the velocity of the respective holders on the holder path in the loading area, thus ensuring that the respective velocities are optimal for easy and safe insertion. 
         [0018]    In an embodiment of any of the above-mentioned methods, the position of the objects on the object path in a direction parallel to the loading direction is controlled by at least one of: a cam arrangement, pneumatically, by electric motors, hydraulically. This results in simple and reliable control of the position of the objects. 
         [0019]    In an embodiment of any of the above-mentioned methods, the position of the holders on the holder path in a direction parallel to the loading direction is controlled by at least one of: a cam arrangement, pneumatically, by electric motors, hydraulically. This results in simple and reliable control of the position of the holders. 
         [0020]    An object of the invention is likewise attained by a method of unloading objects from cavities of holders. Holders are conveyed along a holder path, each holder comprising at least one cavity and each cavity having an unloading-direction. At least some of the cavities comprise an object loaded in the cavity. The objects are picked up sequentially from the holders in a pickup area, and are transported along an object path extending from the pickup area. This object path and the holder path are configured to mutually diverge in a direction parallel to said unloading-direction as distance along the object path from the pickup area increases, i.e. the object path and the holder path diverge as they move away from the pickup area. As above, a plurality of objects are transported simultaneously at different positions along the object path, and likewise a plurality of holders are conveyed simultaneously at different positions along the holder path. In consequence, at any given time a plurality of objects are at different stages of being transported so as to be unloaded from corresponding cavities in corresponding holders. This thus permits significantly faster rates of unloading than the above-mentioned prior art robot-based system, in which only a single object is in the process of being unloaded into a cavity at any given time. In addition, the unloading is in consequence smooth and continuous. 
         [0021]    In an embodiment of the above-mentioned unloading method, the object path is configured to withdraw from the holder path in a direction parallel to the unloading direction as distance along the object path from the pickup area increases, and in another embodiment the holder path is configured to withdraw likewise from the object path. Furthermore, these two embodiments can naturally be combined so such that both the holder path and the object path simultaneously withdraw from each other. 
         [0022]    In an embodiment of any of the above-mentioned unloading methods, the objects are subsequently deposited in a deposition area downstream of the pickup area, thereby removing the objects from the object path. 
         [0023]    In an embodiment of any of the above-mentioned unloading methods, either the object path, the holder path, or both are linear, curved, rotary, or any combination thereof. This provides flexibility in design of the shape of the paths considered in the unloading direction. 
         [0024]    In an embodiment of any of the above-mentioned unloading methods, at least part of the holders each comprise a plurality of cavities, and a plurality of objects are picked up from this plurality of cavities, either simultaneously as a batch or sequentially. This enables increasing the throughput rate of objects even further due to being able to hold more objects in a single holder and unload them therefrom. 
         [0025]    In an embodiment of any of the above-mentioned unloading methods, the transporting and/or the conveying is carried out continuously, that is to say that the objects are unloaded in a continuous stream in quick succession, giving a high throughput rate. 
         [0026]    In an embodiment of any of the above-mentioned unloading methods, the transporting and conveying are carried out synchronously with each other. This results in a simple method, since both the transporting and conveying are fully synchronous with each other. 
         [0027]    In an embodiment of any of the above-mentioned unloading methods, respective objects along the object path travel in the pickup area at a velocity in a plane perpendicular to the loading direction substantially equal to the velocity of the respective holders, holder path in the pickup area, thus ensuring that the respective velocities are optimal for easy and safe extraction of the objects from the cavities. 
         [0028]    In an embodiment of any of the above-mentioned unloading methods, the position of the objects on the object path in a direction parallel to the unloading direction is controlled by at least one of: a cam arrangement, pneumatically, by electric motors, hydraulically. This results in simple and reliable control of the position of the objects. 
         [0029]    In an embodiment of any of the above-mentioned unloading methods, the position of the holders on the holder path in a direction parallel to the unloading direction is controlled by at least one of: a cam arrangement, pneumatically, by electric motors, hydraulically. This results in simple and reliable control of the position of the holders. 
         [0030]    An object of the present invention is likewise attained by an apparatus for loading objects into cavities in holders. This apparatus comprises at least one holder conveyor defining a holder path for conveying holders to, through, and from the loading area. Each holder has at least one cavity, and each cavity has a loading direction, in which an object can be loaded. A transport arrangement is provided for transporting objects into cavities in the holders on the at least one holder conveyor in the loading-direction in the loading area. This transport arrangement comprises a plurality of movable releasable object supports. The position of the plurality of object supports defines an object path: when stationary, a curve passing through the plurality of object supports would define the object path, which likewise corresponds to the path taken by the object supports when the apparatus is in operation. This object path and the holder conveyor are configured to mutually approach in a direction parallel to the loading-direction as distance to the loading area decreases, i.e. the object path and the holder conveyor converge in the direction of the loading area. This enables a plurality of objects to be transported simultaneously at different positions along the object path, considered both parallel and perpendicular to the loading direction, and likewise enables a plurality of holders to be conveyed simultaneously at different positions along the holder path. In consequence, at any given time when the apparatus is in operation, a plurality of objects will be at different stages of being transported so as to be loaded into corresponding cavities in corresponding holders. This thus permits significantly faster rates of loading than the above-mentioned prior art robot-based apparatus, in which only a single object can be in the process of being loaded into a cavity at any given time. In addition, the loading is in consequence smooth and continuous, and the apparatus is only subjected to minimal accelerations which significantly increases the maintenance interval of the apparatus. 
         [0031]    In an embodiment of the above-mentioned loading apparatus, the object supports are movable at least parallel and perpendicular to the loading-direction, and the object path approaches the at least one holder conveyor at decreasing distance to the loading area, and in another embodiment, the object supports are movable at least perpendicular to the loading direction, and the conveyor is configured to approach the at least one object path in a direction parallel to the loading-direction at decreasing distance to the loading area. These embodiments can naturally be combined such that both the object path and the holder conveyor mutually converge. 
         [0032]    In an embodiment of any of the above-mentioned loading apparatuses, the apparatus further comprises at least one object input for objects which defines a collecting area, this collecting area being situated upstream of the loading area and from which the transport arrangement can collect objects. 
         [0033]    In an embodiment of any of the above-mentioned loading apparatuses, the holder conveyor and/or the transport arrangement is/are linear, curved, rotary, or any combination thereof. This provides flexibility in design of the shape of the paths considered in the loading direction. 
         [0034]    In an embodiment of any of the above-mentioned loading apparatuses, each holder comprises a shock-absorbing member of a soft material such as nylon, silicon rubber, or natural rubber. This shock-absorbing member reduces the risk of damage to the objects in the case that they are fragile and/or frangible. This shock-absorbing member can be situated at the open end of the cavity, forming an extension thereof, and is arranged to interact with an abutment, such as a flange, of the object. This results in the flange of the object contacting the shock-absorbing member, suspending the object from its flange. 
         [0035]    In an embodiment of any of the above-mentioned loading apparatuses, each holder is provided with a plurality of cavities, and the transport arrangement is arranged to deposit objects sequentially or simultaneously as a batch into each of the plurality of cavities in the respective holder. This enables a “multiple puck” configuration for improving object throughput rate. 
         [0036]    In an embodiment of any of the above-mentioned loading apparatuses not contradicting herewith, the position of the object supports is controlled at least partially by at least one of: a cam arrangement, hydraulically, by electric motors, pneumatically. This enables simple and accurate control of the position of the object supports. 
         [0037]    In an embodiment of any of the above-mentioned loading apparatuses not contradicting herewith, the position of the holders is at least partially defined by at least one of: a cam arrangement, hydraulically, electric motors, pneumatically. This enables simple and accurate control of the position of the holders. 
         [0038]    In an embodiment of any of the above-mentioned loading apparatuses, the releasable object supports comprise suction cups or grippers opening parallel or perpendicular to the insertion direction, enabling reliable gripping of the objects. 
         [0039]    In an embodiment of any of the above-mentioned loading apparatuses, the transport arrangement is arranged to transport respective objects opposite their respective holders synchronously therewith, which provides a simple arrangement for ensuring correct timing and alignment of the objects and their respective holders. 
         [0040]    In an embodiment of any of the above-mentioned loading apparatuses not in contradiction herewith, each holder comprises more than one cavity, the transport arrangement being arranged to collect a corresponding quantity of objects from the object input and then deposit these objects in each of the plurality of cavities in the respective holder. This permits increased throughput of objects in the loading apparatus. 
         [0041]    An object of the invention is likewise attained by an apparatus for unloading objects from cavities in holders. This apparatus comprises at least for conveying holders to, through, and from a pickup area, each cavity having an unloading direction. A transport arrangement is provided for transporting objects from the pickup area, comprising a plurality of movable releasable object supports. The positions of these object supports define an object path for transporting objects from the cavities in the holders on the holder conveyor, and this transport path and the holder conveyor are configured to mutually diverge in a direction parallel to the unloading direction as distance from the pickup area increases. This enables a plurality of objects to be transported simultaneously at different positions along the object path, and likewise a plurality of holders to be conveyed simultaneously at different positions along the holder path. In consequence, at any given time when the apparatus is in operation, a plurality of objects will be at different stages of being transported so as to be unloaded from the corresponding cavities in corresponding holders. This thus permits significantly faster rates of unloading than the above-mentioned prior art robot-based apparatus, in which only a single object can be in the process of being unloaded from a cavity at any given time. In addition, the unloading is in consequence smooth and continuous, avoiding large accelerations, hence stress on the apparatus is reduced. 
         [0042]    In an embodiment of the above-mentioned unloading apparatus, the object supports are movable at least parallel and perpendicular to the unloading-direction, and the object path withdraws from the at least one holder conveyor at increasing distance from the pickup area, and in another embodiment, the object supports are movable at least perpendicular to the unloading direction, and the conveyor is configured to withdraw from the at least one object path in a direction parallel to the unloading-direction at increasing distance from the pickup area. These embodiments can naturally be combined such that both the object path and the holder conveyor mutually diverge. 
         [0043]    In an embodiment of any of the above-mentioned unloading apparatuses, the apparatus further comprises an object output defining a deposition area downstream of the pickup area, which provides a location for the unloaded objects to be output from the apparatus. 
         [0044]    In an embodiment of any of the above-mentioned unloading apparatuses, the holder conveyor and/or the transport arrangement is/are at least one of linear, curved, and rotary. This provides flexibility in design of the shape of the parts. 
         [0045]    In an embodiment of any of the above-mentioned unloading apparatuses, each holder is provided with more than one cavity, the transport arrangement being arranged to pick up objects from each of the plurality of cavities in a respective holder. This permits increased throughput of objects. 
         [0046]    In an embodiment of any of the above-mentioned unloading apparatuses, each holder comprises a shock-absorbing member of a soft material such as nylon, silicon rubber, or natural rubber. This shock-absorbing member reduces the risk of damage to the objects in the case that they are fragile and/or frangible. This shock-absorbing member can be situated at the open end of the cavity, forming an extension thereof, and is arranged to interact with an abutment, such as a flange, of the object. This results in the flange of the object contacting the shock-absorbing member, suspending the object from its flange. 
         [0047]    In an embodiment of any of the above-mentioned unloading apparatuses, the shape of the transport path is at least partially defined by at least one of: a cam arrangement, hydraulically, by electric motors, pneumatically. This enables simple and accurate control of the position of the objects. 
         [0048]    In an embodiment of any of the above-mentioned unloading apparatuses, the shape of the conveying path is at least partially defined by at least one of: a cam arrangement, hydraulically, by electric motors, pneumatically. This likewise enables simple and accurate control of the position of the holders. 
         [0049]    In an embodiment of any of the above-mentioned unloading apparatuses, the releasable object supports comprise suction cups or grippers opening parallel or perpendicular to the insertion direction, enabling reliable gripping of the objects. 
         [0050]    In an embodiment of any of the above-mentioned unloading apparatuses, the transport arrangement is arranged to transport respective objects opposite respective holders synchronously therewith, which provides a simple arrangement for ensuring correct timing and alignment of the objects and their respective holders. 
         [0051]    The invention further relates to a method of manufacturing closed, unleaky containers comprising first manufacturing closed, untested, containers. These untested containers are then loaded into holders by any of the above mentioned methods of loading objects into cavities in holders, the containers constituting the objects. Subsequently, these containers are leak tested in a leak detection step which may be of any known type. Containers determined as leaking are then rejected together with their corresponding holder. Non-rejected containers are then unloaded from their respective holders by any of the above-mentioned methods of unloading objects from holders, and these non-rejected containers are then accepted as being unleaky containers. 
         [0052]    An alternate method of manufacturing closed unleaky containers comprises first manufacturing closed, untested, containers. These untested containers are then loaded into holders by any of the above mentioned methods of loading objects into cavities in holders, the containers constituting the objects. Subsequently, these containers are leak tested in a leak detection step which may be of any known type. The containers are then unloaded from the holders by any of the above-mentioned methods of unloading objects from holders, after which containers determined as leaking in the leak detection step are rejected, and containers not rejected in the previous step are accepted as unleaky containers. 
         [0053]    The invention further relates to an apparatus for leak testing containers comprising an apparatus for loading objects into cavities in holders according to any of the above embodiments thereof, a leak testing apparatus of any known type downstream of the loading apparatus, and an apparatus for unloading objects holders according to any of the above-mentioned embodiments thereof, situated downstream of the leak testing apparatus. A rejection mechanism for rejecting containers determined as leaking by the leak testing apparatus is operated based on an output of the leak testing apparatus, and is situated either between the leak testing apparatus and the unloading apparatus, or downstream of the unloading apparatus. The container input is provided upstream of the loading apparatus for providing containers as the aforementioned objects to this loading apparatus, and a container output for receiving containers from the unloading apparatus is further provided. Finally, a holder conveyor for conveying the holders to, through, and from each of the loading apparatus, leak detection apparatus, and unloading apparatus sequentially is provided. This apparatus enables high-speed in-line leak testing of containers which has in practice achieved testing rates of up to 600 containers per minute. 
         [0054]    In an embodiment of the apparatus for leak testing containers, the holder conveyor is an endless conveyor, i.e. a conveyor arranged as a circuit, ensuring that the holders loop around and are automatically recirculated through the apparatus. 
         [0055]    In an embodiment of the apparatus for leak testing containers, the apparatus for loading objects and the apparatus for unloading objects both comprise a rotary holder conveyor and a rotary transport arrangement. This results in a simple, compact arrangement. 
     
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         [0056]    FIG.  1 —schematically, a prior art robot-based apparatus for loading objects into cavities in holders; 
           [0057]    FIG.  2 —schematically, the underlying principle of a first aspect of the invention for loading objects into cavities in holders; 
           [0058]    FIG.  3 —schematically, the underlying principle of a second aspect of the invention for loading objects into cavities in holders; 
           [0059]    FIG.  4 —schematically, the underlying principle of a third aspect of the invention for loading objects into cavities in holders; 
           [0060]    FIG.  5 —schematically, the underlying principle of a fourth aspect of the invention for unloading objects from cavities in holders; 
           [0061]    FIG.  6 —schematically, the underlying principle of a fifth aspect of the invention for unloading objects from cavities in holders; 
           [0062]    FIG.  7 —schematically, the underlying principle of a sixth aspect of the invention for unloading objects from cavities in holders; 
           [0063]    FIG.  8 —schematically, an apparatus for loading objects into cavities in holders according to the invention; 
           [0064]    FIG.  9 —schematically, an apparatus for unloading objects from cavities in holders according to the invention; 
           [0065]    FIG.  10 —schematically, a further apparatus for loading objects into cavities in holders according to the invention; 
           [0066]    FIG.  11 —schematically, a further apparatus for loading objects into cavities in holders according to the invention; 
           [0067]    FIG.  12 —schematically, a further apparatus for loading objects into cavities in holders according to the invention; 
           [0068]    FIG.  13 —schematically, a further apparatus for loading objects into cavities in holders according to the invention; 
           [0069]    FIG.  14 —schematically, a further apparatus for unloading objects from cavities in holders according to the invention; 
           [0070]    FIG.  15 —schematically, a further apparatus for unloading objects from cavities in holders according to the invention; 
           [0071]    FIG.  16 —schematically, a further apparatus for loading objects into cavities in holders according to the invention; 
           [0072]    FIG.  17 —schematically, various forms of holder suitable for the apparatus of  FIG. 16 ; 
           [0073]    FIG.  18 —schematically, a holder suitable for flanged objects; 
           [0074]    FIG.  19 —schematically, a further variation of a holder; 
           [0075]    FIG.  20 —schematically, a rotary variant of an apparatus for loading objects into cavities in holders according to the invention; 
           [0076]    FIG.  21 —schematically, a rotary variant of an apparatus for unloading objects from cavities in holders according to the invention; 
           [0077]    FIG.  22 —schematically, a leak detection system incorporating loading and unloading apparatus according to the invention; 
           [0078]    FIG.  23 —schematically, an embodiment of a method of manufacturing unleaky containers according to the invention; and 
           [0079]    FIG.  24 —schematically, a further embodiment of the method of manufacturing unleaky containers according to the invention. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0080]    In the figures, like reference signs denote like parts. 
         [0081]      FIG. 2  illustrates schematically and most generically a first method for loading objects into holders according to the invention. 
         [0082]    Objects  20 , which may have been collected sequentially and continuously from a collecting area  21 , are transported continuously along an object path  22  extending to loading area  23 . Aside from when collecting the first or depositing the last object  20  in any given batch of operation, a plurality of objects  20  will be present on object path  22 . Meanwhile, holders  10 , each having at least one cavity  17 , each cavity being configured to receive an object  20  and having a loading-direction  24 , in which an object  20  is insertable into the cavity  17 , are conveyed continuously along holder path  25  to, through, and from loading area  23 . 
         [0083]    Object path  22  approaches the conveyed holders  10 , and also approaches holder path  25 , as the holder path  25  and object path  22  approach the loading area  23 . In loading area  23  the objects  20  are loaded into the holders  10  in loading-direction  24 . Self-evidently, objects  20  and holders  10  must pass through loading area  23  at an appropriate rate, i.e. in the case of one cavity  17  in each holder  10 , objects  20  must pass through loading area  23  at the same rate as holders  10 ; in the case of two cavities  17  each holder  10 , objects  20  must pass through loading area  23  at double the rate of the holders  10 . In addition, at the point of insertion, the movement of the objects  20  and the movement of the holders  10  must be such that insertion of the objects  10  into the cavity  17  can take place without damaging either the objects  20  or the holders  10 . This applies equally to all embodiments. 
         [0084]      FIG. 3  illustrates a variation on the concept of  FIG. 2  for loading objects into containers. In contrast to the embodiment illustrated in  FIG. 2 , in  FIG. 3  the objects  20  are transported along the object path substantially on the same level as both the collection area  21  and the loading area  23 , and the holder path  25  approaches the transported objects  20  and the object path  22  as the holder path  25  and the object path  22  approach the loading area  23 , in which the objects  20  are loaded into the cavity  17  in the holders  10  in the loading-direction  24 . By the term “level”, we understand position parallel to the (un-)loading direction, i.e. The vertical position as illustrated in the figures. 
         [0085]      FIG. 4  differs from the embodiments of  FIGS. 1 and 2  in that the object path  22  and holder path  25  both mutually converge towards loading area  23 , which is situated at a different level to both the collecting area  21  and to the holders  10  opposite the beginning of the object path  22 . 
         [0086]      FIG. 5  illustrates schematically the principle of the invention when applied to a first variation of unloading objects  20  from holders  10 . In analogy to  FIGS. 2-4 , the cavities  17  of the holders  10  have an unloading-direction  50  in which direction the objects  20  may be removed from the cavities  17  of the holders  10  in unloading direction  50 . Holders  10 , loaded with objects  20 , are conveyed continuously along holder path  25  towards, through, and from pickup area  51 , in which objects  20  are picked up and extracted from cavities  17  in unloading direction  50 . The picked-up objects are then transported continuously on object path  22 , where they may be deposited at deposition area  52 . Downstream of pickup area  51 , the object path  22  recedes from holder path  25 , i.e. moves away from holder path  25  the further it gets from pickup area  51 . 
         [0087]      FIG. 6 , in analogy to  FIG. 3 , illustrates a variant method for extracting objects  20  from holders  10 . Holders  10 , loaded with objects  20 , are conveyed along holder path  25  to, through, and from pickup area  51 , in which objects  20  are picked up. In contrast to the embodiment of  FIG. 5 , holder path  25  recedes from object path  22  as distance from the pickup area  51  increases, thereby extracting the objects  20  from the holders  10 . In this case, deposition area  52  is on the same level as pickup area  51 . 
         [0088]      FIG. 7 , in analogy to  FIG. 4 , illustrates a variant method for extracting objects  20  from holders  10 . In contrast to the embodiments illustrated in  FIGS. 5 and 6 , both object path  22  and conveyance path  25  diverge from their original levels at pickup area  51 , which is at a different level to both deposition area  52  and conveyance path  25  opposite deposition area  52 . 
         [0089]    In the above discussion of  FIGS. 2-7 , it should be noted that these figures are purely schematic and the particular shapes of curves, objects, holders, etc are not be construed as limiting. Nor is the fact that the methods have been illustrated linearly limiting: either or both of the holder path and object path may be curved or rotary, or may even have more complex forms as required. 
         [0090]    In addition, neither the spacing nor the velocity perpendicular to the insertion direction of the holders  10  or the objects  12  need be the same or similar except within the pickup or deposition area as appropriate. 
         [0091]      FIG. 8  illustrates schematically an embodiment of an apparatus for loading containers  12  into holders  10  according to the invention. Conveyor  11  conveys a continuous stream of holders  10  each provided with a cavity  17  in a direction of conveyance  80  underneath transport arrangement  82 . Objects  12  are provided at an object input  81 , which may for instance be an object input conveyor of any known type. Transport arrangement  82  is provided with a plurality of movable object supports  83  each provided with releasable grippers  84  which may be of any known type such as pincers, suction cups, hooks, etc. Containers  12  are collected sequentially and continuously at object input  81 , and are lowered into cavity  17  in holders  10  continuously. A particularly simple solution involves conveying containers  10  synchronously with the movement of movable object supports  83 , i.e. respective holders are conveyed opposite respective object supports at substantially the same velocity perpendicular to the stems of the object supports  83  and to the insertion direction. However, this does not have to be the case: so long as the respective velocities of the objects  12  and the holders  10  at the point of loading the objects  12  into the holders  10  are matched so as to safely load the objects into their respective cavities  17 , the respective velocities of the objects  12  and the holders  10  at other points is irrelevant and can be chosen at will. 
         [0092]    Once the object  12  has been released by the releasable grippers  84  into its respective cavity  17 , object supports  83  are withdrawn from the conveyor  11  and are recirculated so as to collect more objects  12 . Upon release, the object  12  may fall a short distance into the cavity  17 , which simplifies adjustment of the transport arrangement and reduces the risk of damaging or wearing either the grippers  84  or the containers  12 . 
         [0093]    The position of object supports  83 , i.e. their extension, is controlled by any known means, such as one or more cams, a hydraulic system, electric motors, or a pneumatic system. Such control systems are well-known to the skilled artisan, and thus need not be discussed further. The position of the object supports  83  defines the object path as discussed in context of  FIGS. 2-7 , and the position of the holders  10  defines the holder path. This equally applies to all foregoing embodiments. 
         [0094]      FIG. 9  shows an embodiment of an apparatus for unloading objects  12  from cavities  17  in holders  10  conveyed by conveyor  11 . Transport arrangement  82  is similar to that of  FIG. 8 , except that it is arranged to pick up containers  12  from cavities  17  in holders  10  which are conveyed in a direction  90  beneath transport arrangement  82 . In the illustrated embodiment, holders  10  are provided with an extended opening  91  arranged to support abutments or flanges  92  on objects  12 . For ease of picking up containers  12  from the holders  10 , the diameter of the extended openings  91  is less than that of the flanges or abutments  92 , such that grippers  84  can easily hook under flanges or abutments  92  and thereby pick up containers  12 . This, however, is purely illustrative, and any arrangement is possible, adapted to the exact shape and size and form of the objects  12  to be picked up. Once picked up, the objects  12  are transferred to object output  93 , which may for instance be an object output conveyor, where they are released by grippers  84 . Object supports are then recirculated and descend towards the conveyor  11  to pick up more objects  12 . 
         [0095]      FIG. 10  illustrates a further embodiment of an apparatus for loading objects  12  into cavities  17  in holders  10 . In contrast to the embodiment of  FIG. 8 , the transport arrangement  82  merely collects objects  12  from object input  81 . Holders  10  are conveyed by a holder conveyor which comprises a plurality of extendable holder supports  100 , which extend to bring the holders  10  up to meet the objects  12 . Objects  12  are released into cavities  17  in holders  10  by releasing grippers  84  at an appropriate point, from which the extendable holder supports  100  retract and return the now loaded holders  10  to their original height. Subsequently, the extendable holder supports  100  are recirculated to convey further containers  10 . Extendable holder supports  100  are controlled in their extension by cams, pneumatics, hydraulics, or electric motors, as is known to the skilled artisan and need not be discussed further. The position of holder supports  100  defines the holder path as discussed in context with  FIG. 2-7  above. 
         [0096]      FIG. 11  shows a further embodiment of loading objects  12  into holders  10  which differs from that of  FIG. 10  in that the extendable holder supports  100  do not retract with the holders  10  thereupon, rather they deposit loaded holders  10  on a holder output conveyor  110 , and retract and are recirculated thereafter. 
         [0097]      FIG. 12  shows a variant embodiment of loading objects  12  into holders  10 , in which both the object holders  83  and the holders  10  are displaced parallel to insertion direction  24 , such that insertion of the objects takes place at a level different to both the level of the object input  81  and the starting level of the holders  10 . In this embodiment, once the objects  12  have been inserted into the holders  10 , the holders are released from extendable holder supports  100  and are deposited on a holder output conveyor. Subsequently, both object supports and extendable holder supports  100  retract and are recirculated. 
         [0098]      FIG. 13  illustrates a further embodiment for loading objects  12  into holders  10  which differs from that of  FIG. 12  in that, after depositing the objects  12  into the holders  10 , both the object supports  83  and the extendable holder supports  100  retract, returning the loaded holders  10  to their original level. 
         [0099]      FIG. 14  illustrates a further embodiment for unloading objects  12  from holders  10 , in which object supports  83  are not extendable, and remain at the same level. Extendable holder supports  100  extend towards object supports  83  such that grippers  84  can pick up the objects  12 . Subsequently, extendable holder supports  100  and corresponding holders  10  withdraw from object supports  83  and return to their original level. Picked-up objects  12  are deposited at object output  93 . 
         [0100]      FIG. 15  illustrates a variant embodiment of  FIG. 14  in which object supports  83  are additionally extendable, and extend towards holders  10 . After picking up objects  12 , both object supports  83  and extendable holder supports  100  and respective holders  10  withdraw to their original levels, and objects  12  are then deposited on object output  93 . Other variants are naturally also possible, such as situating the object output  93  at a level different to that of both the starting position of object supports  83  and the starting position of holders  10 . 
         [0101]      FIG. 16  illustrates schematically an embodiment permitting to further increase throughput of objects  12 , illustrated here in analogy to the embodiment of  FIG. 8 , however the illustrated principle is equally applicable to all loading and unloading apparatuses described in the specification. The apparatus of  FIG. 16  differs from the foregoing embodiments in that each holder  10  comprises a plurality of cavities, illustrated in  FIG. 16  as to cavities, arranged in the direction of conveyance  80  of the holders  10 . Object supports  83  comprises a pair of grippers  84  which simultaneously collect to objects  12  from object input  81  and deposit them simultaneously in their respective holder  10 . 
         [0102]      FIG. 17  illustrates schematically three variations of holders for use in the embodiment of  FIG. 16 . Holder  171  comprises two cavities  172  arranged parallel to direction of conveyance  80 . Holder  173  comprises two cavities  172  arranged perpendicular to direction of conveyance  80 . Holder  174  comprises four cavities arranged in a square. Both holders  173  and  174  will require object input  81  to present objects  12  in two parallel lines such that they can be collected by object supports  83 . The exact shape and form of cavities  172  can be arranged as required by the skilled Artisan for the objects in question, and the number and arrangement of cavities can likewise be arranged as required. 
         [0103]      FIG. 18  illustrates a specific example of a holder  10  and an object  12 . In this figure, object  12  is a container with a flange  12   a , such as a filled or unfilled glass syringe. Holder  10  has a body  160  with a cavity  161  formed therein. Cavity  161  is conformed so as to be a loose sliding fit for container  12 , and is illustrated in  FIG. 16  as being a blind hole, however it could equally be a through hole. The mouth of the cavity is provided with an extension  162 , illustrated here as a separate piece made of a soft material such as nylon, silicon rubber, natural rubber, or other sufficiently soft material, against which the flange  12   a  of container  12  can abut. Thereby, extension  162  acts as a buffer during loading of container  12  into holder  10 , reducing the risk of breaking container  12  during insertion. For less fragile objects than glass syringes, extension  162  may be constructed of harder material, or formed integrally with the body  160 . To permit a gripper to be able to easily grab container  12 , the outer diameter of the extension  162  is less than the diameter of the flange  12   a , permitting easy extraction of the container from the holder  10 . To permit use of the holder with pressure-based leak-testing systems such as those commercialised by the Applicant, at least one lateral through hole  163  is provided in extension  162  to permit equalisation of the pressure between the cavity  161  and the pressure in a test chamber (not illustrated). Thereby, holder  10  can be used as a so-called “puck” (i.e. a container holder) in such a pressure-based leak detection system as mentioned above, in which the holder  10  may be introduced into a test chamber, or may itself form part of a test chamber. 
         [0104]    Naturally, the skilled artisan knows how to configure a holder  10  for a given object  12 , and a further example is given in  FIG. 19 , which shows a holder  10  configured for a fragile cylindrical object  12 . Holder  10  has a body  160  provided with a closed-ended cylindrical cavity  161 , with buffer  164  of soft material such as nylon, silicon rubber, or natural rubber situated at the closed end of the cavity  161 . For less fragile objects, buffer  164  may be eliminated. 
         [0105]      FIG. 20  shows schematically a practical example for loading flanged objects  12  such as glass syringes into holders  10  of the type illustrated in  FIG. 16 , utilising the loading scheme of  FIGS. 2 and 8  and implemented with a rotary conveyor  11 . Object input  81 , such as a conveyor, presents objects  12  to the grippers  84  of object supports  83  provided on an object support rotor  180 . Coaxial with the object support rotor  180  is rotary conveyor  11 , and both object support rotor  180  and rotary conveyor  11  rotate synchronously with each other at the same angular velocity, either driven by a common drive or by two separate drives (not illustrated). Rotary conveyor  11  may be, as is common, a star gear or any other convenient known arrangement. Holders  10  are introduced onto rotary conveyor  11  at  181 , e.g. by a conveyor, and leave rotary conveyor  11  at  182 , again e.g. by a conveyor. As the rotary conveyor  11  and the object support rotor  180  rotate, objects  12  are collected at  183  and are gently lowered into the cavities  17  of the holders  10 . At around position  184 , at least the tip of the object  12  has already entered the cavity  17  in the corresponding object holder  10 , and is released by the gripper  84  of the corresponding object support  83 . If the object  12  has not been fully lowered into its cavity  17 , it is allowed to fall a short distance, and to seat under the force of gravity. Subsequently, object holders  83  retract and travel further around the rotor to pick up another object  12 . The loaded holders  10  then leave the rotary conveyor  11  at  182 . 
         [0106]    As previously discussed, the extension and retraction of the object supports  83  may be controlled by one or more cams, pneumatically, by electric motors, or hydraulically, according to the desires of the process operator. These control systems are well-known to the skilled Artisan and need not be discussed further. Furthermore, the form of the grippers and the shape of the holders  10  may be adjusted as required for any given form of object  12 : for instance, grippers  84  may be one or more suction cups, hooks etc.  FIG. 21  illustrates schematically a rotary object unloading system analogous to the loading system of  FIG. 18 . Rotary conveyor  11  and object support rotor  180  are essentially the same as those in  FIG. 18 . 
         [0107]    Loaded holders  10  enter the rotary conveyor  11  at  191  and are conveyed therearound. Object supports  83  extend and pick up objects  12  at point  193 , and then subsequently retract with the object  12 , which are deposited on object output  93 , which is for instance a conveyor. Meanwhile, unloaded holders  10  exit the rotary conveyor at  192 . 
         [0108]    As previously discussed, the extension and retraction of the object supports  83  may be controlled by one or more cams, pneumatically, by electric motors, or hydraulically, according to the desires of the process operator. These control systems are well-known to the skilled Artisan and need not be discussed further. Furthermore, the form of the grippers and the shape of the holders  10  may be adjusted as required for any given form of object  12 : for instance, grippers  84  may be one or more suction cups. 
         [0109]      FIG. 22  illustrates schematically a container leak detection system incorporating an apparatus for loading objects into containers according to the invention, and an apparatus for unloading objects from containers according to the invention. The dashed line  200  illustrates the passage of holders through the system, and the objects are closed containers. 
         [0110]    An apparatus for loading objects into cavities in holders (loading apparatus  201 ), which may be that as illustrated in  FIG. 20 , loads containers presented by an object input conveyor  81  into holders. The thus loaded holders exit loading apparatus  201  at loading apparatus output  202  and enter test cavities of the rotor  204  of a leak detection apparatus at test rotor input  203 . As they travel around rotor  204 , they are leak tested according to any known method, for instance (but not limited to) one or more of the methods disclosed in one or more of U.S. Pat. No. 5,907,093, U.S. Pat. No. 6,082,184, U.S. Pat. No. 6,202,477, U.S. Pat. No. 6,305,215, U.S. Pat. No. 6,439,033, U.S. Pat. No. 6,575,016, U.S. Pat. No. 6,829,936, WO 2011/012730, U.S. Pat. No. 7,000,456, 6,446,493 or U.S. Pat. No. 6,185,987, which are herein incorporated by reference insofar as they relate to leak testing, and after testing, the holders leave rotor  204  at test rotor output  205 . Based on the result of leak testing, containers deemed to be leaking are rejected in their holders by rejection mechanism  206 , and are transported to rejection output  207 . Containers not deemed to be leaking then enter in their holders at unloading apparatus input  208  an apparatus for unloading objects from cavities in containers (unloading apparatus  209 ), which may be that illustrated in  FIG. 21 , where they are unloaded from the corresponding holders and/or output at object output  93 . The thus unloaded holders then leave the unloading apparatus  209  at unloading apparatus output  210 , and then travel around to re-enter loading apparatus  201  at loading apparatus input  211 , to repeat the process. 
         [0111]    Variations on the system illustrated in  FIG. 22  are as follows: rejection mechanism  206  may be integrated into object output  93  so as to reject individual containers after unloading; the shape of the path  200  of the containers can be arranged at will; object loading apparatus  201  may be linear rather than rotary, as may object unloading apparatus  209  and leak detection apparatus. 
         [0112]      FIG. 23  illustrates schematically a method of manufacturing unleaky containers according to the invention. 
         [0113]    Untested containers  12   u  are manufactured at  230  and are loaded into corresponding holders  10  according to one of the above-mentioned methods by one of the above-mentioned apparatuses in  231 . In  232 , the untested containers  12   u  are leak tested as discussed above, and rejection mechanism R rejects containers detected as leaking based on an output  232   o  of the leak test. Subsequently, unleaky containers  12   g  are unloaded from their corresponding holders  10  at  233 , and are output for further manufacturing, labelling, boxing, shipping, etc. Empty holders are returned to the loading block  231  such that they re-cycle through the system. 
         [0114]      FIG. 24  illustrates schematically a further method of manufacturing unleaky containers according to the invention, which differs from that of  FIG. 23  in that the rejection mechanism R is situated after the unloading step  233 . Thus all containers  12  are unloaded from the corresponding holders  10 , after which rejection based on the output  232   o  of the leak detection in  232  takes place. As above, empty holders are returned to the loading block  231  such that the cycle through the system. 
         [0115]    While a full attempt has been made to describe the invention by means of various specific embodiments, these are not to be construed as limiting the scope of the invention, which is defined solely by the scope of the appended claims. In particular, it is noted that all embodiments may be combined as long as the result is not contradictory.