Container weighing method

Abstract

The present invention provides a method for weighing a plurality of containers (C) in a production line (10), the production line (10) comprising a station (12) for filling and weighing the plurality of containers (C), the method providing for simultaneously picking up a plurality of containers (C), the plurality of containers being initially weighed to determine a tare weight, and subsequently being filled sequentially in a sequential manner to determine the weight of the product metered into each container (C).

Description

Technical Field

[0001] The present invention relates to a weighing method capable of weighing one or more containers configured to contain various types of products, including liquids, solids and powders, such as medicines, foods or beverages.

[0002] The method described herein can be carried out at the filling and weighing station of a production line which may contain a plurality of other processing stations, for example also at least one storage station for empty containers and a subsequent station for capping or closing the filled containers.

[0003] The method described herein is suitable, for example, in association with a machine for filling said plurality of containers and / or a machine for automatically transporting said plurality of containers to and from one or more processing stations.

[0004] The term "product" or "substance" means any liquid, semi-solid, gel or solid ingredient which, in this case, may be a powder or granules and may be of vegetable and / or animal and / or chemical origin.

[0005] Purely as non-limiting examples, the method according to the invention may be used in the fields of medicine, cosmetics, health care, chemicals and / or food. Background Art

[0006] In the industrial field of automatic filling of containers, various devices or machines are known, which are configured as a production line within which one or more containers are moved to and from one or more processing stations, advantageously positioned successively.

[0007] The processing station may comprise, for example, a storage station for a plurality of empty containers, one or more weighing stations, a station for filling the plurality of containers, a station for closing each container, and a station for packaging the filled containers ready for delivery or storage in a finished goods warehouse.

[0008] An example of a known production line, comprising, in sequence, a first weighing station for a plurality of empty containers, a station for filling the plurality of containers by means of a filling unit equipped with a plurality of nozzles to deliver the product, a weighing station for the filled plurality of containers, and a station for closing the plurality of containers, is described in published U.S. patent application No. US-A1-2015 / 0034207. This known production line provides for determining the tare weight of the plurality of containers to be filled at the first weighing station and weighing the filled plurality of containers at a second weighing station to verify that the weight of the delivered product corresponds to the expected weight, possibly within a certain tolerance range. If it is detected that the amount of product in one or more containers is less than expected, the filling unit is moved by means of a robotic arm to correspond to the second weighing station for the already filled containers. Here, only the nozzles corresponding to the containers with less product weight than expected are selectively activated to deliver the missing amount of product.

[0009] One disadvantage of this line is the complexity of the mobile filling unit, which requires multiple flexible tubes to feed the product to the multiple nozzles, and multiple peristaltic pumps that can be activated independently to ensure the selective delivery of the product from only one or more nozzles. The container in question may be a flask, for example a bottle, or in any case, a container having a similar or comparable shape and capable of containing a fluid product, in particular a liquid, or a solid and powdered or gel product.

[0010] The movement of the plurality of containers between and within the plurality of processing stations is typically performed by mechanical and motorized transport devices or equipment, including, for example, conveyor belts, turntables or carousels, gears, chains, slides, elevators, robotic arms, possibly robots and other mechanical components.

[0011] Regardless of which type of transport device is used, a plurality of containers, which at least initially can be placed in suitable positions on the container holding tray, must be picked up individually or in groups by suitable picking members for subsequent filling, weighing and closing operations.

[0012] The multiple containers are then picked up and moved to subsequent processing stations, in particular for filling and weighing.

[0013] Indeed, a crucial aspect of these filling machines is the need to weigh multiple containers before, after, and possibly during the filling step in order to accurately determine the amount of product metered into each container. Furthermore, especially in certain industries, such as pharmaceuticals, each weighing must be extremely accurate and precise, even down to tolerances of 1 mg, in order to achieve the correct dosage.

[0014] Typically, in such cases, multiple weighing elements or metering scales are used, such as multiple load cells, each of which has an empty container placed on it. Typically, multiple metering members are provided, each configured to meter a specific amount of product into a corresponding empty container. In practice, once the tare weight of a container has been measured, the product is metered into the container, the filled container is then weighed, and the net weight of the metered product is determined based on the difference in weight relative to the tare weight. This sequence of multiple operations is repeated for all containers to be processed, whether they are supplied individually or in groups, significantly increasing processing time and reducing the productivity of the filling machine and the overall production line.

[0015] Furthermore, the use of multiple weighing cells, each for weighing the tare and gross weight of a specific one of the individual containers, may involve a multiplication of the measurement errors due to the use of multiple weighing cells, with the associated large number of measurement errors and at least a large number of weighing operations to be performed. A spread of measurement differences and uncertainties in the exact quantity of metered product may also occur, in particular, due to the accuracy and repeatability of the tare and gross weight measurements of the same container, as a result of using different weighing cells.

[0016] This aspect is even more critical, for example, in the pharmaceutical industry or similar industries, where the amounts of components to be metered are often minimal and the required tolerances are also minimal.

[0017] Another aspect to consider is that, typically, containers are supplied in container holding trays according to a so-called "quincunx" spatial configuration, which provides multiple rows of containers that are staggered adjacent to each other in order to optimize volume occupancy.

[0018] Although this spatial arrangement allows maximizing the number of containers that can be arranged in the container holding tray, it makes it difficult to pick them up. Therefore, in the prior art, only a small number of containers placed in the same row can be picked up at a time. This is reflected in the subsequent filling, weighing and closing steps of the picked containers, which are only performed on a small number of containers.

[0019] Furthermore, this significantly increases the processing time of a given group of containers, since only a few containers can be moved at a time, which reduces overall productivity. Furthermore, this significantly increases the number of movements, which leads to increased energy consumption, greater wear and overheating of the motor units of the associated mobile equipment.

[0020] Therefore, there is a need to improve a method for weighing multiple containers on a production line that can overcome at least one of the shortcomings of the prior art.

[0021] In particular, an object of the present invention is to perfect a method for weighing a plurality of containers which reduces the number of errors that may occur when measuring the weight.

[0022] Another object of the present invention is to provide a weighing method which is not affected by uncertainties or differences in weight measurements, or in any case minimizes these.

[0023] Another object of the present invention is to provide a weighing method which reduces the processing time for a given group of containers.

[0024] Another object of the present invention is to provide a weighing method which minimizes the number of necessary movements.

[0025] The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages. Summary of the Invention

[0026] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention or variants to the main inventive idea.

[0027] In accordance with the above-mentioned purposes, some embodiments described herein relate to a method for weighing a plurality of containers in a production line, wherein the production line comprises at least one station for filling and weighing the plurality of containers, provided with a filling device and a weighing device, wherein the weighing device comprises a metering scale supporting a weighing plate.

[0028] The weighing plate is provided with a plurality of positioning seats, each positioning seat being configured to receive and support a corresponding container.

[0029] The above method comprises the following steps:

[0030] picking up a plurality of empty containers from a picking station and moving the plurality of empty containers to a filling and weighing station;

[0031] Positioning each of the plurality of containers as described above in a corresponding seat of the plurality of positioning seats as described above;

[0032] Weighing the total tare weight of the plurality of containers inserted into the plurality of seats by means of a weighing scale as described above; in particular by weighing all empty containers initially present in the corresponding plurality of seats of the weighing plate;

[0033] sequentially filling each of the plurality of containers with a predetermined dose of product by means of the filling device, wherein the sequential filling step is performed while the plurality of containers remain contained in the plurality of receptacles of the weighing plate and without removing the plurality of containers from the weighing scale after the step of performing the total tare weighing as described above;

[0034] measuring the weight of the product metered into a first container of the plurality of containers as described above, subtracting the total tare weight measured in the previous tare weighing step from the total weight determined at the end of the step of filling said first container; and thereafter

[0035] The weight of the product metered into each container after the first container is measured, and the value of the total weight measured at the end of filling of the immediately preceding container is subtracted from the total weight determined at the end of filling of each container.

[0036] Advantageously, all of these methods allow, firstly, to move at one time a greater number of containers than could be moved with the methods of the prior art, thereby allowing to reduce the number of moves involved and the overall move time, and to increase productivity.

[0037] In particular, reducing the number of transfers is advantageous because, in addition to reducing operating time, this also results in lower energy consumption, less wear and tear on the motorized units of the transfer equipment involved, and less overheating. This is particularly advantageous, for example, when the transfer is performed by means of automated or robotic equipment.

[0038] Furthermore, only a single tare weighing is performed for a given group of containers positioned in the corresponding plurality of receptacles of a weigh plate associated with a particular metering scale, thereby reducing errors in measuring the weight of the product metered into each container. This is primarily due to the use of a single metering scale to weigh the multiple containers positioned in the corresponding plurality of receptacles of the weigh plate, rather than using multiple weighing elements, each dedicated to weighing a single container. Indeed, since the net weight of each filling operation is advantageously calculated by taking the difference between two weight measurements taken on the same metering scale before and after a particular filling operation, any measurement errors are subtracted rather than added together as in the prior art. Furthermore, the number of weighing operations performed for a given number of containers to be processed is reduced.

[0039] Other embodiments also relate to a station for filling and weighing a plurality of containers, comprising a container extraction device for extracting the plurality of containers from a container holding tray, a filling device, and a weighing device. The weighing device comprises a weighing scale supporting a weighing plate having a plurality of positioning seats, each positioning seat being configured to receive and support a respective container. The extraction device as described above is configured to move the plurality of containers relative to the filling device and the weighing device, or, optionally, a support plate is provided to move the plurality of containers relative to the filling device and the weighing device.

[0040] According to one embodiment provided herein, a station for filling and weighing a plurality of containers comprises a weighing device comprising a metering scale supporting a weighing plate provided with a plurality of positioning seats. Each positioning seat is configured to receive and support a corresponding container, and the filling device is configured to sequentially fill each of the plurality of containers described above with a product within the filling and weighing station. The latter further comprises a programmable central control unit operatively connected to the weighing device described above and configured to:

[0041] i) firstly, obtaining from a weighing scale a measurement of the total tare weight of all containers of the plurality of containers inserted in the plurality of positioning seats as described above,

[0042] ii) subsequently, actuating the filling device to sequentially fill each of the plurality of containers described above with a predetermined dose of product while the plurality of containers remain housed in the plurality of seats of the weighing plate described above, and

[0043] iii) Subsequently, a measurement of the weight of the product measured into each container is again obtained from the weighing scale, said measurement being obtained by subtracting the measurement of the total weight obtained at the immediately preceding filling from the measurement of the total weight obtained at each filling, this weight then being consistent with the total tare weight in the case of a first container of a plurality of containers as described above being filled.

[0044] Other further embodiments relate to a production line for processing a plurality of containers, comprising a station for storing and picking up the plurality of containers and a station for filling and weighing the plurality of containers, as described herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] These and other aspects, features and advantages of the invention will become apparent from the following description of some embodiments thereof, which is given as a non-limiting example with reference to the accompanying drawings, in which:

[0046] Figure 1 is a schematic top view of a production line for processing a plurality of containers, wherein a method for weighing a plurality of containers according to some embodiments described herein is performed at least between a station for storing and picking up the plurality of containers and a station for filling and weighing the plurality of containers;

[0047] Figure 2 is a cross-sectional view of a container that may be used in embodiments described herein;

[0048] Figure 3 is a perspective view of the steps of cooperation between the container holding tray and the extraction device in the embodiment described herein;

[0049] Figure 4is a top view of the cooperative steps between the container holding tray and the extraction device in the embodiment described herein;

[0050] Figure 5 It is along Figure 4 A cross-sectional view taken along line VI-VI of ;

[0051] Figure 6 is a perspective view of a support plate with a plurality of containers positioned thereon in cooperation with an extraction device according to some embodiments described herein;

[0052] Figure 7 is a top view of a support plate according to some embodiments described herein;

[0053] Figure 8 is a schematic cross-sectional view of steps of a weighing method according to some embodiments described herein;

[0054] Figure 9 is a schematic cross-sectional view of another step of the weighing method according to some embodiments described herein;

[0055] Figure 10 is a perspective view of a support plate according to some embodiments described herein with a plurality of containers positioned thereon in cooperation with a weighing device according to some embodiments described herein;

[0056] Figure 11 is a perspective view of a weigh plate according to some embodiments described herein;

[0057] Figure 12 is a schematic top view of a weighing device according to some embodiments described herein;

[0058] Figure 13 is a schematic side view, partially in section, of a weighing apparatus according to some embodiments described herein;

[0059] Figure 14 is a perspective view of a weigh plate according to other embodiments described herein;

[0060] Figure 15 is a graph showing a trend of weight detected by a weighing device (y-axis) over time (x-axis) according to some embodiments described herein.

[0061] To facilitate understanding, the same reference numerals have been used, where possible, to identify the same common elements in the drawings. It should be understood that elements and features of one embodiment can be conveniently incorporated into other embodiments without further clarification. DETAILED DESCRIPTION

[0062] Reference will now be made in detail to possible embodiments of the present invention, one or more examples of which are illustrated in the accompanying drawings. Each example is provided throughout the description of the present invention to provide a non-limiting example of the embodiments, construction details, wording, and terminology. For example, one or more features shown or described as part of one embodiment may be modified or employed in or in connection with another embodiment to produce yet another embodiment. It is to be understood that the present invention encompasses all such modifications and variations.

[0063] The embodiments described herein using the drawings relate to a method of weighing a plurality of containers C in a production line 10 to process the plurality of containers C, a station 12 for filling and weighing the plurality of containers C, and the production line 10 for processing the plurality of containers.

[0064] In addition to the filling and weighing station 12, the production line 10 may also comprise a station 11 for storing and picking up a plurality of empty containers and other possible processing stations 14, such as a station for closing or capping the containers C, a packaging station or other stations configured to perform other operations (see, for example, Figure 1 ).

[0065] According to a possible embodiment, the production line 10 may further comprise a plurality of moving devices 39, such as Figure 1 The movement device 39 can be positioned, for example, at least corresponding to the processing stations 11 , 12 .

[0066] The moving device 39 is configured to move various trays, various plates or other equipment or devices in space relative to the processing station as described above, generally being able to support and position a plurality of containers C, preferably in a stable and defined manner, as will be described in detail below.

[0067] For example, the movement device 39 may be selected from the group comprising automatic movement devices, robotic movement devices (particularly anthropomorphic robots), magnetic or electric movement devices or other known devices or combinations of these devices.

[0068] The filling and weighing station 12 may comprise (or be associated with, or remotely connected to) a command and control unit 50 configured to control and manage at least the functions of the filling and weighing station 12 .

[0069] For example, the command and control unit 50 can control and command the drive of the mobile device 39, in particular in a manner consistent with a working cycle, which is pre-set and / or selectable in each case and can serve to control and command the product to be metered and the batch of containers C to be processed.

[0070] The Applicant also wishes to point out that in this context and throughout this description, a filling and weighing station 12 can be understood as a station in which, in addition to filling, weighing operations can be performed both before (tare) (when the container is empty) and after (gross) the filling of the container. In this particular case, the overall purpose of the weighing is to detect the net weight of the product metered into each container C; usually, the gross weight is measured once the product has been metered into the container C, and since the weight measured before filling is known (for example, for a single container C), this weight measured before filling can be used as a reference or tare weight, and in each case the net weight of the product metered into each container C is calculated by difference with respect to the gross weight. This weight detection and determination of the net weight of the metered product can be managed and controlled by a command and control unit 50 which receives signals related to the weight measurements performed.

[0071] It is also to be clarified that the expression "filling and weighing station 12" used in this specification should not be considered restrictive. For example, this expression can take into account the case where the filling and weighing station 12 is equipped with a weighing device and a filling device that directly cooperate with each other and are arranged in close proximity, or the case where the filling and weighing station 12 provides two areas or sub-stations that are separated, separated or remote from each other, wherein the first area is provided with a weighing device for tare weighing of a plurality of containers C, and the second area is provided with a filling device and a weighing device for filling and weighing the amount of product metered into each container C.

[0072] Furthermore, according to some embodiments described herein, reference will be made, as non-limiting examples, to, for example, Figure 2 As can be seen more clearly in the figure, several types of containers C are shown, wherein the container C is configured as a flask or bottle capable of containing a fluid product (particularly a liquid, or a solid, powdered, or gel product). In these possible embodiments, the container C has a neck 41 and a mouth 43 protruding from a containing body 42. Corresponding to the mouth 43, the neck 41 has a protruding annular edge 44 at the top and a bottom 45 at the opposite end. Obviously, the container C may also have other shapes and sizes, and may even be dissimilar to or incompatible with the shape and size of a flask or bottle.

[0073] According to some embodiments, the method provides for using a container holding tray 20 ( Figure 1 、 3 and 4). The container holding tray 20 can be connected to the storage and picking station 11 and / or the filling and weighing station 12 ( Figure 1 ) is associated with.

[0074] The moving device 39 may advantageously be provided and configured to move the container holding tray 20 .

[0075] A certain number (even several units or dozens of units) of empty containers C are pre-positioned on the container holding tray 20 so that the empty containers C can be stored in the container according to the desired quantity. Figure 3 The positioning matrix M1 forms an ordered container group C. The positioning matrix M1 is defined, for example, by an arrangement according to a pattern of rows and columns of a plurality of containers C in the container holding tray 20. In this document and in this specification, the term "row" may also be used to identify a row or column of containers C (see, for example, Figure 3 and 4 ), wherein a row means a series of elements aligned with one another, in this particular case a plurality of containers C. Such a pattern may, for example, be such that the plurality of containers C in a row is offset relative to the containers in two adjacent rows, i.e., an element of a row is arranged in the space between two elements of the following or preceding row, in order to optimize the spatial arrangement and ensure that the container holding tray 20 can accommodate the greatest possible number of containers C. Such a spatial arrangement of the containers C, typically of this area, is also termed a "quincunx" configuration.

[0076] The container holding tray 20 is provided with a plurality of receiving seats 21 for receiving and positioning a plurality of containers C. The plurality of receiving seats 21 are reciprocally arranged according to the configuration of the positioning matrix M1 and are configured to receive and support corresponding containers C relative to their bottom ends 45, particularly such containers C with the side of the mouth 43 facing upward.

[0077] The container holding tray 20, and in particular the corresponding plurality of receptacles 21, may be fitted in various ways.

[0078] In one possible exemplary embodiment, the housing 21 is able to determine a precise and defined space in which the container C can be placed, but preferably without having any lateral support function for the container C. For example, in a "quincunx" arrangement, although the multiple containers C are not positioned in contact, they are very close to each other and support each other in the event of a collision.

[0079] Alternatively, in another exemplary embodiment, the receiving seat 21 can be made to have the same thickness as the container holding tray 20 and a depth to advantageously provide lateral support for the container C when the container C is placed therein. For example, the receiving seat 21 has a circular cross-section that conforms to the substantially cylindrical shape of the container C. The receiving seat 21 can have a transverse dimension slightly larger than that of the container C to advantageously allow for stable positioning thereof, but with some clearance to facilitate subsequent picking thereof up.

[0080] Here, the inventors wish to point out that the plurality of containers C are arranged in the container holding tray 20 in the manner and orientation described above because they have been supplied in this manner or because they have undergone a flipping operation from a mouth 43 facing downward to a mouth 43 facing upward.

[0081] The weighing method described herein provides for the use of extraction devices 22 configured to engage at least a portion of a plurality of containers C arranged on a container holding tray 20 in order to extract a plurality of such containers C and transport them and make them available to a filling and weighing station 12. These extraction devices 22 can be associated with the storage and picking station 11 and / or the filling and weighing station 12 and / or can at least be moved between these stations.

[0082] In some embodiments, the extraction device 22 is configured to be reciprocally movable relative to the container holding tray 20 in a picking direction W (eg, in a substantially horizontal plane). Figure 3 and Figure 4 According to a possible embodiment, this picking direction W can in particular be transverse, more particularly orthogonal, to the containers C of the corresponding row of the positioning matrix M1. In this particular case, the picking direction W can be transverse, more particularly orthogonal to the perimeter of the container holding tray 20.

[0083] In a possible embodiment, the extraction device 22 is suitable for picking up at least two containers C arranged on at least one respective row of the positioning matrix M1 .

[0084] In other possible embodiments, the extraction device 22 is adapted to pick up at least two containers C arranged in two parallel and consecutive rows I and II of the positioning matrix M1 from the container holding tray 20, wherein a first container C is located in a first row I and a second container C is located in a second row II. With reference to the picking direction W, in the positioning matrix M1, the first row I is located further outward relative to the second row II (see, for example Figure 3 and Figure 4 In this way, when the extraction device 22 moves along the picking direction W towards the container holding tray 20, the extraction device 22 first encounters the first container to be picked up and then encounters the second container to be picked up, which is therefore located further downstream.

[0085] According to some embodiments, the extraction device 22 comprises (or is configured to) e.g. Figure 3 and Figure 4 The extraction fixture 22a is shown in FIG.

[0086] The extraction device 22 may include a specific one of the moving devices 39 or be associated with a specific one of the moving devices 38, adapted to move the extraction gripper 22a as required, as described below. For example, in one embodiment, the extraction device 22 may be associated with a moving device configured as an automatic robotic arm.

[0087] According to a possible embodiment, the extraction device 22 is configured to perform at least a first relative movement relative to the container holding tray 20 to engage at least a portion of a group of containers C arranged in the receptacles 21 of the container holding tray 20, and to engage and hold the containers C via the extraction grippers 22. In particular, the extraction device 22 is configured to pick up a container C from at least one row of containers C, or from at least two parallel and consecutive rows I and II of containers C. Alternatively, it is not excluded that the first relative movement described above can be achieved by moving the container holding tray 20 relative to the extraction grippers 22a.

[0088] Preferably, due to its configuration, the extraction gripper 22 a is capable of simultaneously picking up more than one container C, particularly two or more, even more particularly three or more, or even all of the containers C in row I, and more than one container C, particularly two or more, even more particularly three or more, or even all of the containers C in row II, which is parallel to and continuous with row I, so as to reduce handling and movement time and the number of movements. Although described herein as picking up from one or two rows I, II, it should be clear that the present invention can be applied to picking up containers C from even more than two rows, for example, three, four, five, six, or even more than six rows, or even all of the rows of the container holding tray 20.

[0089] The extraction gripper 22a is also configured to perform at least a second relative movement relative to the container holding tray 20 in order to extract the container C located in the receiving seat 21 from the container holding tray 20 in order to move it to the next processing station, in this particular case to the filling and loading station 12. In a possible embodiment, for this purpose, the extraction gripper 22a can be moved by a lifting movement, or alternatively, the extraction gripper 22a can remain stationary and the container holding tray 20 can be moved, in particular by a downward movement.

[0090] As described above, the extraction clamp 22a can be moved by a moving device or devices 39 associated with it, allowing relative movement relative to the container C to be engaged and picked up, as well as movement in space, in order to reach the filling and weighing station 12 of the container C, when the extraction clamp 22a moves relative to the container holding tray 20.

[0091] According to some embodiments, at least in the first relative movement of engagement as described above, the extraction gripper 22a is configured to be operatively aligned with respect to a row, line, or column of the positioning matrix M1 of the container holding tray 20 so as to receive therein a corresponding row of containers C, such as Figure 4 shown.

[0092] In some embodiments, the filling and weighing station 12 includes a weighing device 33, which will be described in detail below. Figures 8 to 14 ).

[0093] Furthermore, the filling and weighing station 12 may comprise a filling device 40 configured to fill ( Figure 1 Schematically shown in Figure 8 and 9 Each container C is shown in FIG. 4 . The filling device 40 can be, for example, a variety of nozzles or similar delivery or metering devices.

[0094] For example, the filling device 40 may be a single conveying or metering device located at a fixed position, or an array of multiple conveying or metering devices arranged at multiple fixed positions, or one or more conveying devices positioned to be movable so as to move in correspondence with the respective containers C to be filled. For example, as an example, Figure 8 A filling device 40 is shown, Figure 9 A filling device 40 is shown with a solid line and a possible plurality of filling devices 40 with a dashed line.

[0095] In addition, despite the Figure 1 、 8 9 shows a filling device 40 as an example, which basically corresponds to the weighing device 33, so that in fact, during the operations of weighing the tare weight, filling and weighing the gross weight, the same container C is stationary at least relative to the weighing device 33. The present invention can also envisage such an embodiment, in which, always within the scope of the filling and weighing station 12 as defined in this specification, the filling device 40 is positioned to be separated and / or away from the weighing device 33, for example, for tare weighing, so that the same container C can be moved relative to the weighing device 33 set for weighing the tare weight and moved relative to the filling device 40 and the weighing device 33 to weigh the gross weight, thereby obtaining the net weight of the metered product.

[0096] For example, an autonomous weighing device 33 separated from the filling device 40 can be provided, and once the tare weight of a plurality of containers C is weighed only once as described herein, the same containers C can be moved in correspondence with the filling device 30, wherein a certain amount of product is metered into a specific container C.

[0097] The latter is then moved to the weighing device 33, where the gross weight of the filled container C is weighed, thereby obtaining the net weight. Subsequently, the plurality of containers C is moved again to the filling device 40, where another filling of another container C is performed. Finally, the plurality of containers C is moved again to the weighing device 33, where the gross weight of a specific other filled container C is weighed, and this is done gradually in this way until all the containers of a given container group C have been filled and weighed.

[0098] Advantageously, in all the embodiments described herein, the weighing device 33 and the filling device 40 can also be managed and controlled, also in relation to the reciprocating operation, by a command and control unit 50. The command and control unit 50 can coordinate the movement of the plurality of containers C according to the method described herein, also according to the various operations performed at the filling and weighing station 12, in particular by means of the filling device 40 and the weighing device 33, and their specific sequence.

[0099] According to a possible embodiment, the filling and station 12 may also comprise, or be associated with or cooperate with, a supporting device (in particular a supporting plate 30), which is configured to receive the container C from the extraction device 22, in this particular case from the extraction clamp 22a, and to support the container C at least during the filling and weighing operations.

[0100] If provided or used, a moving device 39 may also be provided to move the support plate 30 .

[0101] According to an embodiment in which the supporting means is configured as a supporting plate 30 , the supporting plate 30 is provided with a plurality of supporting seats 31 arranged reciprocally according to a configuration defined by a positioning matrix M1 in order to receive the container groups C moved by the extraction grippers 22 a.

[0102] In the embodiment providing for the use of a support plate 30 as a means for cooperating a plurality of containers C with a filling device 40 and a weighing device 33, each support seat 31 has a shaped hole 32 (on the bottom surface) to allow cooperating with the weighing device 33, as will be described in detail below (see for example Figures 8 to 11 ).

[0103] In the embodiment considering the use of the support plate 30, the extraction clamp 22a performs a first alignment movement relative to the support plate 30 in order to align the container C vertically with the underlying support seat 31 relative to the positioning matrix M1. In addition, the extraction clamp 22a is also configured to perform a second movement (downward movement) so that the container C is inserted into the support seat 31 ( Figure 6 ), then, in a movement substantially opposite to the previous one, retracts to disengage the container C, so that the container C remains accommodated by the support seat 31 of the support plate 30. Alternatively, the support plate 30 can also be moved relative to the extraction clamp 22a.

[0104] The support seat 31 can be made to have the same thickness as the support plate 30 and a depth to laterally support the container C when the container C is placed therein. In the example described herein, the support seat 31 has a circular cross-section that conforms to the substantially cylindrical shape of the container C. The support seat 31 can have a transverse dimension slightly larger than that of the container C to allow for stable positioning thereof, but with some clearance to facilitate subsequent picking thereof up.

[0105] As mentioned above, in the embodiment in which the support plate 30 is used as the moving device, in order to enable a plurality of containers C to cooperate with the filling device 40 and the weighing device 33 of the filling and weighing station 12, each support seat 31 has a shaped hole 32 (on the bottom surface) as described in detail below. Figure 7 、 8 , 9) to allow cooperation with the weighing device 33, which is also appropriately shaped ( Figure 8 、 9 , 10, 11). For example, the shaped hole 32 can have a configuration with three angled arms leaving a central area, for example, the arms being at equal angles of about 120° relative to each other, in particular being able to assume the shape of a three-pointed star.

[0106] In some embodiments, which can be combined with all the embodiments described herein, the weighing device 33 ( Figure 8 、 9 , 10, 11, 12, 13, 14) comprises at least one weighing scale 33a and a corresponding weighing plate 34 associated with the at least one weighing scale 33a. The at least one weighing scale 33a may comprise, for example, a load cell or other weight detector. The corresponding weighing plate 34 is mounted on the at least one weighing scale 33a having a plurality of positioning seats 34a. In this way, the method thus provides for the measurement of the weight ... Figure 8 、 9 , 10, 11, 12, 13, 14) to weigh multiple containers C supported by the same weighing plate 34.

[0107] In some embodiments, the weighing method and the connected filling and weighing station 12 are therefore able to first weigh the tare weight of the containers C when they are empty, and then measure the gross weight when one of the containers C has been filled. In particular, for the plurality of containers C positioned in the plurality of seats 34 a of the weighing plate 34 of the metering scale 33 a, the total tare weight is weighed only once, after which the plurality of containers C are filled one by one, and for each filling, the net weight of the metered product is obtained by the difference relative to the gross weight detected in the previous filling (except for the first filling, in which the difference is calculated according to the above-mentioned single tare weighing).

[0108] In particular, when using Figure 7 、 8 In the embodiments described in , 9, 10, 11, 12, 13, and 14, and which can be combined with all the embodiments described herein, each of the multiple positioning seats 34a is advantageously coordinated with the positioning of the corresponding container C (preferably in a stable manner) for weighing the measured quantitative product introduced by the filling device 40.

[0109] The weighing device 33 may include one or more weighing scales 33a of the type described herein. For example, the weighing device 33 may include a single weighing scale 33a that supports a weighing plate 34 having a plurality of positioning seats 34a, or they may include a plurality of such weighing scales 33a, each equipped with a weighing plate 34 having a plurality of positioning seats 34a.

[0110] In some embodiments, one or more filling devices 40 may be provided for each weighing scale 33a, but in any case, the number of filling devices 40 is less than the number of corresponding positioning seats 34a of the corresponding weighing scale 33a. In this case, such one or more filling devices 40 can move with at least two degrees of freedom, namely, at least lateral movement and lifting / lowering, to serve the multiple positioning seats 34a of the corresponding weighing scale 33a. Alternatively, multiple filling devices 40 can be provided for each weighing scale 33a, the number of which is equal to the number of corresponding positioning seats 34a, and in this case, the filling devices 40 can move with one degree of freedom, namely, lifting / lowering.

[0111] Here, the inventors wish to point out that according to the invention, the extraction device 22 (or alternatively, the support plate 30 or other device that may be capable of picking up multiple containers C) can pick up multiple containers C, whether they belong to a single row or multiple rows of the container holding tray 20, the number of which (advantageously in multiples) is equal to or greater than the number of provided weighing scales 33a and filling devices 40 (advantageously in multiples).

[0112] In use Figures 8 to 14 In the described embodiment, the number of positioning seats 34a of each weighing plate 34 can advantageously be two or more, such as three, four, five, six or even more than six. Based on their number and operational requirements, these positioning seats 34a can also be arranged in several consecutive rows, in which case each row can provide two or more positioning seats 34a, such as three, four, five, six or even more than six.

[0113] As described above, the weighing method can move a plurality of containers C by means of the support plate 30 or directly by means of the extraction device 22, wherein the plurality of containers C have been picked up from the container holding tray 20 or another suitable pickup and moving device. In possible variations, the mode of support of the plurality of containers C can be varied, for example, they can be supported on the bottom 45 by means of the plurality of support seats 31 of the support plate 30, or can be held suspended from above by means of the protruding annular edge 44 of the neck 41 being held on the extraction fixture 22a. Such different support modes can also imply different configurations of the weighing plate 34 used, in particular how the plurality of positioning seats 34a are manufactured or defined so that they are compatible with the configuration of the support plate 30 or the extraction fixture 22a or other pickup and moving device, respectively.

[0114] In particular, Figure 8 、 9 , 10 is used to describe the support plate 30 relative to the filling device 40 and relative to the equipped (reference Figures 8 to 11 Alternatively, the extraction device 22 can also be used directly for this purpose, in which case, for example, a plurality of weighing plates 34 can be used. Figures 12 to 15 Depicted weighing plate 34. According to another alternative, other pick-up and moving devices may also be used, for example of the vacuum type, such as suction cups or the like.

[0115] In any case, the advantage of being able to pick up and move a plurality of containers C, which are then filled and weighed by means of a weighing device 33 provided with a plurality of weighing scales 33a having a weighing plate 34 with a plurality of positioning seats 34a, is obvious: in fact, the number of weight measurement errors can be reduced, since both the number of weighing operations and the number of weighing scales 33a used are reduced, and since even a single weighing scale 33a equipped with a weighing plate 34 as described herein can be used for a given plurality of containers C. Furthermore, the uncertainties or differences in the tare measurements can be eliminated or reduced, thereby reducing the uncertainties or differences in the weight of the metered products, reducing the handling time for a given group of containers, and minimizing the number of necessary movements.

[0116] For example, Figure 8 、 Figure 9 、 Figure 10 By way of example, some embodiments are shown in which the support plate 30 is positioned relative to the filling device 40 (only in the Figure 9 and Figure 10 ) and positioning a plurality of containers C in association with the weighing device 33. In this case, the support plate 30 can also be used to support the containers C during the weighing operation performed by the weighing device 33 while the containers C are present in the weighing device 33.

[0117] In this case, use Figure 8 、 9 The embodiments of the weighing plate 34 described in Figures 10 and 11 can be advantageously used in combination with the support plate 30. In particular, in these embodiments, the weighing plate 34 has a support rod 35, which supports a positioning plate 36 at one end thereof. The positioning plate 36 is particularly arranged transversely to the support rod 35. A plurality of positioning seats 34a are arranged on the positioning plate 36. The support rod 35 is mounted on or connected to a corresponding weighing scale 33a.

[0118] In these embodiments, a plurality of rods 37 protrude from the positioning plate 36, each supporting a suitably shaped support element 38. Each support element 38 has an upper surface defining a corresponding positioning seat 34a. The plurality of support elements 38 are advantageously adapted or shaped in a manner that matches the shape of the plurality of holes 32 of the support plate 30. In a possible embodiment, the plurality of support elements 38 can be shaped as a plurality of radial arms, for example Figures 8 to 11 Three of them.

[0119] In particular, in these embodiments, since multiple support elements 38 protrude from the positioning plate 36 and are supported by corresponding rods 37, the multiple support elements 38 can be selectively passed through the multiple holes 32 of the support plate 30, so that each container C can be positioned (preferably in a stable manner) on the corresponding positioning seat 34a.

[0120] In other embodiments, not shown but whose implementation is readily understood by a person skilled in the art, no support plate 30 is used and the extraction device 22 (in particular the extraction grippers 22 a) directly positions the plurality of containers C relative to the filling device 40 and in association with the weighing device 33. In this case, the extraction device 22 (in particular the extraction grippers 22 a) can also be used to support the containers C during the weighing operation performed by the weighing device 33 while the containers C are present in the weighing device 33.

[0121] Therefore, in this further case, use Figure 12 、 13 The embodiments of the weighing plate 34 described in FIG. 14 can be advantageously used in combination with the extraction device 22 (particularly the extraction clamp 22a). Figures 8 to 11 The weighing plates 34 of the embodiments are different, while other parts or components are the same unless otherwise specified. Therefore, in these embodiments, there are no multiple support members 38 supported by multiple rods 37 protruding from the positioning plate 36, but the positioning plate 36 has multiple positioning seats 34a, which are made hollow or concave in the positioning plate 36.

[0122] In particular, in these embodiments, the plurality of containers C carried by the extraction device 22 can be freely inserted from above into the corresponding seats 34a, partially housed inside them and resting (preferably in a stable manner) on their bottom.

[0123] In some embodiments, using Figure 14 Describes and can also be used with Figures 8 to 11 In combination with the embodiments of 12 to 13, the weighing plate 34 may have a plurality of protruding pins 36a arranged corresponding to each positioning seat 34a. Advantageously, the arrangement and construction of the pins 36a are intended to have the function of centering and radially accommodating a plurality of containers C positioned in the corresponding positioning seats 34a. The pins 36a may, for example, protrude from the corresponding weighing plate 36 and be arranged around each positioning seat 34a, as shown in FIG. Figure 14 As shown in the examples in the reference Figure 12 and 13 The described embodiments are also possible.

[0124] As mentioned above, in Figure 9 、 10 In the embodiment of FIG. 11 , pins 36 a having the same function as described above may also be provided. In this case, multiple pins 36 a protrude from each of the corresponding plurality of support elements 38 and are effectively arranged around the corresponding positioning seat 34 a. For example, if the plurality of support elements 38 are formed as a plurality of radial arms, the pins 36 a may be provided at the ends of each radial arm.

[0125] In addition, when using Figure 12 、 13 In the embodiment described in FIG. 14 , the plurality of positioning seats 34 a of the corresponding weighing plate 34 are, for example, arranged to be aligned with each other; however, the inventors do not exclude that the plurality of positioning seats 34 a may also be arranged to have an offset or alternating spatial configuration, for example Figure 8 、 9 , 10, 11, or other spatial configurations or orientations. For example, Figure 11 As shown, the positioning plate 36 can be appropriately shaped in a manner that matches the desired configuration, in this case a "plum blossom shape". Figure 8 、 9 , 10, 11, 12, 13, 14 described in the weighing plate 34, the support plate 30 carrying the container C, or if the support plate 30 is not used, the extraction clamp 22a is appropriately moved relative to the weighing device 33, so that there is coordination and alignment between the container C and the multiple positioning seats 34a.

[0126] According to some embodiments of the weighing method described herein, a plurality of containers C are simultaneously positioned in each of a plurality of positioning seats 34a of a weighing plate 34 of a corresponding metering scale 33a of a weighing device 33 using a support plate 30 or alternatively directly using an extraction clamp 22a or other suitable picking and moving device.

[0127] For example, the plurality of locating seats 34a of each weighing plate 34 may be arranged to cooperate for weighing purposes with a plurality of containers C in one, two or more rows supplied by the support plate 30 without being extracted from the corresponding support seats 31 accommodating them, or alternatively supplied by the same extraction clamp 22a.

[0128] In the examples described herein, see, for example, Figures 8 to 11 , and as a substitute for the support plate 30, instead of using reference Figures 12 to 14 The case of the extraction device 22 is also valid, the support plate 30 is configured to perform at least a first alignment movement relative to the weighing device 33 so as to be aligned with respect to the positioning matrix M1 ( Figure 8 ) align the forming hole 32 vertically with the plurality of positioning seats 34a of each of the plurality of weighing plates 34. In this case, use Figures 8 to 11 The weighing plate 34 is described, wherein advantageously, a plurality of protruding support elements 38, each having a corresponding plurality of positioning seats 34a, cooperate with a corresponding plurality of shaped holes 32 so that the support elements 38 can pass through them. In addition, the support plate 30 is configured to also perform a second movement, in this case involving the plurality of support elements 38 and the corresponding plurality of positioning seats 34a passing through the holes 32, so that a plurality of containers C are placed due to the presence of the holes 32, each container being located in a corresponding positioning seat 34a ( Figure 9 ), and then rises again to disengage the supporting element 38 and remove the container C from the corresponding positioning seat 34a.

[0129] exist Figures 8 to 11 In the case of the embodiment, and for Figures 12 to 14An embodiment is also effective by appropriately using the extraction device 22 instead of the support plate 30, repeating this movement sequence so that the support plate 30 is progressively advanced in a step-by-step manner, coordinating the distances between the multiple rows of containers C and the multiple positioning seats 34a relative to the weighing device 33, so that all the containers C present on the support plate 30 are gradually positioned in the corresponding positioning seats 34b. Here, the tare weight of a group of the multiple containers C present on the weighing plate 34 is weighed once, and then each container C is filled. At the end of each operation of filling a specific container C, the total weight of the multiple containers C present on the weighing plate 34 is measured, and the net weight of the product measured to the specific container C is calculated based on the difference with the weight measured in the previous step (initially, the tare weight of the multiple containers C, on the other hand, in the next step, the gross weight measured in the previous filling). In other advantageous embodiments, the above-described movement sequence can also be performed only once, since, due to the presence of a number of seats 34a on the respective weighing plate 34, which is at least equal to the number of containers C, it is possible to simultaneously tare all the containers C present on the support plate 30 or on the extraction device 22, so as to subsequently fill and weigh the quantity of product metered into all the containers C inserted into the plurality of seats 34a. For each filling, in the case of the first filling, the net weight of the product metered into each container C can be determined in each case based on the difference from the initially determined tare weight or the difference from the gross weight detected in the previous filling. This determination can advantageously be performed by the command and control unit 50.

[0130] In the embodiment described herein, in particular, an operation is provided for performing only one tare weighing operation on all containers C arranged in the corresponding multiple positioning seats 34a of the weighing plate 34. Therefore, by moving a larger number of containers C at a time, the number of tare weighing of the containers C can be advantageously reduced, or a smaller number of measuring scales 33a can be used to handle the weighing operations of multiple containers C.

[0131] In particular, according to the embodiments described herein, by means of a weighing device 33, wherein each weighing scale 33a is provided with a specific weighing plate 34 having a plurality of positioning seats 34a, the tare weighing step can advantageously be made faster and more accurate, thereby significantly improving the productivity and accuracy of the weighing process, thereby improving the entire processing cycle.

[0132] In fact, by providing a weighing plate 34 with a plurality of positioning seats 34a, a plurality of containers C supported by the weighing plate 34 associated with the corresponding metering scale 33a can be positioned, and at the beginning of a weighing cycle for a determined group of containers C, only one tare weighing is performed on all such containers C.

[0133] Also refer to Figure 15 , Figure 15A trend diagram of the weight (y-axis) detected gradually by the weighing scale 33a over time (x-axis) is shown, and it can be seen that at time t0, when, for example, all containers C are positioned in their corresponding positioning seats 34a and are empty (i.e., before filling), the weight detected by the weighing scale 33a at time t0 represents the weight of all empty containers C (i.e., the tare weight), or in any case a reference value, or zero. This tare weight is the initial weight value, and the subsequent weighing operation of the first container C filled by means of the filling device 40 refers to this initial weight value. Figure 15 In the figure, at time t0, the tare weight is represented by P0.

[0134] Subsequently, at time t1, a certain amount of product is metered into one of the multiple containers C and the weight P1 is detected, and then at time t2, a certain amount of product is metered into another of the multiple containers C and the weight P2 is detected, and so on, and these weight measurements are repeated progressively until the number of times "m" is equal to the number of positioning seats 34a of each weighing plate 34, that is, equal to the number of containers C to be filled and weighed on the same metering scale 33a.

[0135] With the exception of the first weight detected before the start of filling (i.e. the tare weight of all "m" containers C present in the seat 34a of each weighing plate 34 associated with the corresponding metering scale 33a), all subsequently detected weights are gross weights, as a result of metering the product into each container C in turn. Thus, for example, the net weight of the product metered into the first container C will be given by the difference between the detected gross weight P1 and the initially detected tare weight P0, while the net weight of the product metered into the second container C being filled will be given by the difference between the detected gross weight P2 and the previous gross weight P1, etc. It can therefore be stated that, after the first tare weighing operation when the containers C are empty, the gross weight detected in a given weighing operation actually represents a reference weight, relative to which, in subsequent gross weighing operations, the net weight of the product metered in a given subsequent operation is calculated.

[0136] Therefore, in some embodiments, the weight of the product measured into the container C is determined by measuring the difference between the weight detected by the metering scale 33a at the first filling and the total tare weight of multiple containers C initially detected by the metering scale 33a, and subsequently determined by measuring the difference between the weight detected by the metering scale 33a at another filling and the weight detected by the metering scale 33a immediately following the previous filling.

[0137] Thus, in general, the net weight N(i+1) of the product measured by the filling device 40 into a given container C at the instant of time i+1 is defined by the difference between the current weight P(i+1) detected by the weighing scale 33a and the weight P(i) detected by the same weighing scale 33a when the previous filling was performed at time i:

[0138] N(i+1)=P(i+1)-P(i)

[0139] Here, i is a natural number from 0 to m, and m is the number of containers C disposed and supported in the positioning seats 34a of the corresponding weighing plate 34 associated with the measuring scale 33a.

[0140] Therefore, due to the results described above, Figure 15 The diagram can be considered as a "step-type" diagram of weight versus time, where each step represents an increase in weight detected by the metering scale 33a, and the entity of each step actually corresponds to the net weight of the product metered in a specific fill; it can therefore be said that the weighing method described in this article is a "step-type" weighing method.

[0141] In some embodiments, therefore, the weighing method provides:

[0142] At the same time, a plurality of empty containers C are picked up from the container holding tray 20 and moved to the filling and weighing station 12;

[0143] Positioning the empty containers C in a plurality of seats 34 a of each weighing plate 34 associated with a respective one of the weighing scales, by means of the extraction device 22 or by means of the support plate 30 to which the containers C have been transferred by the extraction device 22, so that each container C is positioned (preferably in a stable manner) in a specific seat 34 a of the respective weighing plate 34;

[0144] Only one tare weighing is performed, weighing all empty containers C initially present in the corresponding seats 34 a of the weighing plate 34 .

[0145] Each of the plurality of containers C is filled in sequence, and at each filling step (i.e., after each filling step), the weight of the product measured into a particular container C is gradually determined by the metering scale 33a without the need for tare weighing each container of a given group of multiple containers C to be filled and weighed.

[0146] As mentioned above, the picking step can be performed by a robotic arm.

[0147] According to some embodiments of the method described herein, the filling step is sequentially provided to activate the filling device 40 to deliver a predetermined dose of product until a predetermined weight measured by the metering scale 33a is reached; when the predetermined weight is reached, the delivery of product to each container in the plurality of containers C is interrupted.

[0148] If the weighing device 33 comprises a plurality of weighing scales 33a, the steps of performing tare weighing only once and filling and weighing the containers C of each weighing plate 34 in turn can advantageously be performed in parallel for each of the plurality of weighing scales 33a provided.

[0149] As described above, in order to determine the weight of the product measured into a specific container C by the measuring scale 33a, after each filling s, the net weight N(i+1) of the product measured by the filling device 40 at the time i+1 is given by the difference between the weight P(i+1) detected at this time i+1 and the weight P(i) detected at the previous time i.

[0150] It is therefore clear that one advantage achieved by the embodiments of the weighing method described herein is that the gross weight can be measured incrementally for each of a plurality of containers C and the net weight N can be derived therefrom, since the tare weight has already been measured. In particular, advantageously, all m containers C to be weighed are not individually tare-weighed at the beginning of a weighing cycle using the same metering scale 33a, but rather are tare-weighed only once. Thus, in these embodiments, m-1 tare-weighings and m-1 movement operations of the containers C are saved, which has significant advantages in terms of time, reduced wear on the movement devices, reduced energy consumption of the automated movement system used, and reduced overheating.

[0151] Another advantage achieved is that, compared to the state of the art, each weighing scale is provided with its own weighing plate, which has a single locating seat for accommodating the corresponding container to be filled and weighed, thereby achieving greater weighing accuracy. Indeed, the use of a single weighing scale to weigh multiple containers C via the corresponding weighing plate 34 prevents the accumulation of multiple measurement errors, which might otherwise occur if multiple weighing scales were used. Consequently, errors arising from the accuracy thresholds set for tare weighing on the various weighing scales used can also be reduced. Furthermore, the method described herein allows for fewer measurement errors, since fewer measurements are performed for the same number m of containers C to be weighed, resulting in a lower probability of error. In particular, with the method described herein, m+1 measurements are actually performed to determine the net weights of the m containers, also taking into account the initial tare weight, whereas with the state-of-the-art methods, 2*m measurements are performed, meaning that both the tare and gross weights are measured for each of the m containers.

[0152] The invention thus provides for the tare weighing of a plurality of containers C at once with a single weighing scale 33 a and in a single operation, reducing the risk of introducing errors due to the tare weighing of a given group of containers C to be weighed, in particular by means of different weighing scales 33 a, thanks to the configuration of the respective weighing plate 34 with a plurality of positioning seats 34 a.

[0153] In other words, thanks to the invention, it is possible to carry out fewer tare weighings, preferably just one weighing of a given set of containers C, and it is also possible to use a smaller number of weighing scales than is possible in the prior art, thus reducing the likelihood of tare weighing errors that would result from the use of a larger number of weighing scales.

[0154] This is particularly important for metering products in smallest and precise quantities, such as in the pharmaceutical field, because tare weighing is performed on multiple containers simultaneously using a single weighing scale, thus preventing the propagation of errors found in the prior art due to different tare thresholds or settings between the multiple weighing scales used.

[0155] Meanwhile, with the present invention, since a plurality of containers C as described above can be simultaneously supplied and moved by the extraction jig 22 a or alternatively by the support plate 30 , a larger number of containers C can also be weighed.

[0156] The Applicant also wishes to point out that, in any case, the use of support means, in this particular case the support plate 30, may be optional. In fact, in a possible embodiment, the filling and weighing of the containers C may be carried out directly by using the extraction device 22, in particular the extraction gripper 22a, and more specifically by moving the containers C held in position by the extraction gripper 22a, so as to place them in cooperation with the filling device 40 or with the weighing device 33.

[0157] In the embodiment described here, for example involving the use of an extraction device 22 and possibly a support plate 30 or other picking and moving devices, additional advantages are evident in that a plurality of containers C picked up from the container holding tray 20 (and possibly even all the containers present therein) are moved by the extraction device 22 (advantageously provided with an extraction gripper 22 a), and moved by the support plate 30 or the extraction device 22 itself. In particular, this reduces the number of container C movements associated with the weighing operation, thereby increasing the overall productivity of the production line 10, reducing energy consumption, and reducing overheating and wear of the corresponding moving devices.

[0158] According to some embodiments, in order to pick up and move a plurality of containers C from the container holding tray 20, the weighing method includes:

[0159] supplying a container holding tray 20 containing a plurality of containers C arranged in an orderly manner according to a pattern defined by a positioning matrix M1,

[0160] The extraction devices 22 are moved in a picking direction W relative to the container holding tray 20 and, by moving these extraction devices 22, at least two containers C arranged on at least one row of the positioning matrix M1 (possibly at least two parallel and consecutive rows I, II of the positioning matrix M1) are picked up from the container holding tray 20.

[0161] In the case of picking from multiple parallel rows, the first container C of these containers C is located in the first row I and the second container C is located in the second row II, wherein (in the positioning matrix M1) the first row I is located further outside relative to the second row II (relative to the picking direction W).

[0162] Picking up and moving such a group of containers C, comprising at least a first container C and a second container C in at least one row or possibly two parallel and consecutive rows as defined above, makes it possible to speed up the movement and, in general, to reduce the displacement of the containers C between the processing stations, the movement time, the number of movements, the wear of the moving parts, overheating and energy consumption, and to increase the overall productivity of the production line 10. In fact, in this way, in each case, a relatively small number of movements is sufficient to pick up all the containers C arranged in the container holding tray 12 and transport them to the filling and weighing station 12.

[0163] According to the embodiment described herein, the container holding tray 20 and / or the extraction gripper 22a can be moved relative to each other by means of corresponding movement devices 39 in order to pick up a plurality of containers C. For example, the extraction gripper 22a performs at least a first relative engagement movement (pickup direction W, Figure 3 and 4 ), so as to engage at least a portion of a group of multiple containers C disposed in the receiving seats 21 of the container holding tray 20, thereby holding the multiple containers C. Alternatively, the inversion tray 20 may move according to the first relative movement relative to the engagement of the extraction clamp 22a.

[0164] Once the container C is engaged, a second relative movement can be performed between the extraction gripper 22a and the turnover tray 20, for example transversely and in particular perpendicularly to the pick-up direction W, in order to extract the container C from the container holding tray 20. For example, in a possible embodiment, the extraction gripper 22a can also perform at least a second relative lifting movement relative to the container holding tray 20, the second relative lifting movement being transversely and in particular perpendicularly to the pick-up direction W, in order to extract the containers C held in the extraction gripper 22a from the container holding tray 20 in order to move them to the next filling and weighing station 12 ( Figure 5). Or, alternatively, the extraction gripper 22 can remain stationary and the container holding tray 20 can be moved, in particular in a lowering movement transversely to, and in particular perpendicularly to, the picking direction.

[0165] Subsequently, the method described herein may provide for moving the container C by means of the extraction gripper 22 a towards the filling and weighing station 12, in particular towards the support plate 30 (if provided), in order to place the container C in a corresponding support seat 31 of the support plate 30 ( Figure 9 ), or directly towards the filling device 40 and the associated weighing device 33. Then, it is possible to refer to the Figure 8 、 9 , 10 for filling and weighing. In any case, the support plate 30 is constructed in such a way as to allow the filling and weighing of the containers C without having to take out and / or remove these containers C from the support plate 30 itself, with obvious advantages in terms of operating time and with a lower number of movements. As mentioned above, as an alternative to the support plate 30, the extraction clamp 22a can be used directly, selecting, for example Figure 12 、 13 , a weighing plate 34 of a suitable type as shown in FIG. 14 .

[0166] Furthermore, regarding the weighing operations performed before filling (tare weighing) and after filling, the support plate 30 (if provided) is moved towards the weighing device 33, otherwise the extraction clamp 22a can be used directly.

[0167] In the embodiment described herein, one or more rows of containers C present in the support plate 30 are aligned with the corresponding weighing scales 33a of the weighing device 33, so that the shaped holes 32 corresponding to a given row or rows of containers C to be weighed are aligned with the corresponding positioning seats 34a of each weighing plate 34 associated with each weighing scale 33a. If the support plate 30 is used, the support element 38 (the weighing plate 34 on which the positioning seats 34a are present) cooperates with the shaped holes 32, so that the support element 38 can pass through the shaped holes 32 so that the containers C are placed on the positioning seats 34a, so as to determine the weight of a plurality of containers C during a single operation of tare weighing as described above, and subsequently also to determine the weight of the plurality of containers C after being filled by a suitable filling device 40 ( Figure 9 ) in each case of successive fillings carried out by measuring the weight of the product metered into the container C.

[0168] When one or more rows of containers C present in the support plate 30 are vertically aligned with the corresponding positioning seats 34a of the weighing plate 34, the support plate 30 and the weighing plate 34 are moved closer to each other so that the containers C are positioned in the positioning seats 34a. Figure 9) to perform the weighing operation, and the subsequent movement thereof away from each other, thereby releasing the support plate 30 from the weighing plate 34. Figure 8 、 9 In the possible solution shown in FIG10 , the support plate 30 is movable, while the weighing plate 34 is fixed; the support plate 30 is moved toward the weighing plate 34 so that the container C (due to the corresponding shaped holes 32 of the support plate 30) is positioned in the positioning seat 34a of the corresponding weighing plate 34 for weighing operations, and is moved away from the weighing plate 34 to lift and remove the container C from the positioning seat 34a. However, on the other hand, the present invention does not exclude an embodiment in which the weighing plate 34 is vertically movable to engage the container C through the shaped holes 32. In any case, in the embodiment described in which the support plate 30 is used for weighing purposes, the container C can be partially or completely released from the support plate 30. In the case of complete release, it means that the lower plane of each container C ends at the upper plane of the support plate 30.

[0169] As mentioned above, in other embodiments, instead of the support plate 30, the extraction device 22 (in particular the extraction clamp 22a) moves the containers C towards the filling and weighing station 12 to cooperate with the filling device 40 provided in the filling and weighing station 12, so that one or more rows of containers C present in the extraction clamp 22a are vertically aligned with the filling device 40. In addition, the extraction clamp 22a also moves towards the weighing device 33 associated with the filling and weighing station 12, in this case comprising one or more weighing scales 33a, each of which is equipped with a weight according to the use Figure 12 、 13 , 14, the corresponding weighing plates 34 of the embodiment described. The weighing device 33 can actually be substantially aligned with the filling device 40 or in any case correspond to the filling device 40. In this case, it is arranged to align one or more rows of containers C in the extraction clamp 22a vertically with the corresponding weighing device 33, so that the plurality of containers C are aligned with the corresponding plurality of positioning seats 34a of each weighing plate 34 on each measuring scale 33a ( Figure 12 、 13 , 14).

[0170] In addition, the inventors do not exclude that the extraction clamp 22a can be used with reference Figures 8 to 11 The embodiments of the described weighing scale 33a are used in combination, in particular to provide that the container C can be positioned from above on the corresponding positioning seat 34a of the specific weighing plate 34 described in these embodiments.

[0171] Thus, in the embodiment described herein, the support plate 30 (or alternatively the extraction device, in particular the extraction gripper 22a, or other possible pick-up and movement device) moves a group of a plurality of containers C to be filled and weighed relative to a weighing device 33 provided with a weighing plate 34 having a plurality of positioning seats 34a. In this case, a number of containers C (for example arranged along a row and advantageously equal to the number of positioning seats 34a) are positioned there, after which a single operation of tare weighing is performed, and subsequently, the product is metered stepwise into each container C by means of the filling device 40, measuring the weight in each case, as described above with reference to Figure 15 The above operations of positioning a group of containers C in the positioning seats 34a, initial tare weighing, progressive filling of each container C of a given group and corresponding weighing of the gross weight, in order to calculate by difference the net weight of the product metered into a particular filled container C, are repeated as many times as the number of rows of containers C to be weighed or as multiples of the number of rows of containers C to be weighed, also based on the number and arrangement of the positioning seats 34a provided on the weighing plate 34, for example with reference to Figures 8 to 14 describe.

[0172] Furthermore, the inventors wish to point out that in an alternative embodiment of the support plate 30, the extraction device 22 (in particular the extraction clamp 22a) is used directly to move the container C, preferably, in order to carry out the weighing by means of the weighing device 33, the container C is suitably released from the extraction clamp 22a so as not to distort the weight or transmit vibrations during the weighing step itself; this can be achieved by using Figures 12 to 14 At the end of the filling and weighing operation, the filled and weighable containers C can be transferred from the support plate 30 or from the extraction gripper 22a to a subsequent processing station 14, as indicated above.

[0173] As mentioned above, the inventors wish to point out that in any case, in a possible embodiment, the plurality of containers C can be picked up from the container holding tray 20 by means of other suitable picking and moving devices, not necessarily configured as an extraction device 22 or a support plate 30, for example by means of a vacuum pick-up device or other device, picking up and moving the plurality of containers C, keeping them gripped from above.

[0174] Furthermore, according to other embodiments, the weighing method described herein may include a step of control or inspection by means of an optical acquisition device (in particular an image or video) in order to check the presence or absence of container C and / or the correct number of containers C and / or the correct positioning of containers C at least relative to the multiple receptacles of the weighing plate 34.

[0175] To this end, at least one suitable optical inspection assembly 60 ( Figure 1 、 4, 8 to 10), said optical inspection assembly being associated with the filling and weighing station 12, and possibly also with the storage and picking station 11, and comprising, for example, a camera or similar optical or video inspection means. The optical inspection assembly 60 can advantageously be connected to the command and control unit 50, providing it with acquisition signals which are processed to provide feedback on the inspection performed; optionally, as a function of the inspection result, the command and control unit 50 can provide a signal or warning to an operator (whether automated, robotic or human) in order to possibly intervene and solve the problem (for example, a possible lack of a container C or an incorrect positioning).

[0176] The optical inspection assembly 60 can be appropriately positioned over an area of ​​interest to be inspected, where there is a group of containers C to be transported, weighed and filled, so that the viewing area of ​​the optical inspection assembly 60 can inspect the group of containers C.

[0177] In particular, this control or verification step can be directed to the extraction device ( Figure 4 ) to perform or verify the correct transfer of the container C from the extraction device 22 to the support plate 30 ( Figure 6 ), or the arrangement of the container C on the plurality of positioning seats 34a of the weighing plate 34 ( Figure 8 、 9 、10)Execute.

[0178] For example, according to one possible embodiment, when the extraction device 22 or other pick-up and moving device holds the tray 20 from the container (see Figure 4 ) picks up a group of containers C, this control step can be performed by the optical inspection assembly 60. In this case, the control or verification step can advantageously be aimed at verifying whether all containers C have been picked up by the extraction device 22.

[0179] According to another example, which can be combined with the other examples described herein, a control or verification step can be performed if the containers C are transferred to the support plate 30 by the extraction device 22, in which case, for example, the presence of all containers C can also be verified (see Figure 6 ).

[0180] According to another example that can also be combined with other examples described herein, when the extraction device 22 (or the support plate 30, or other devices suitable for picking up and moving) positions the containers C on the plurality of receiving seats 34a of the corresponding weighing plates 34 of the weighing device 33, a control or inspection step can be performed to check that all the containers C are placed in the corresponding positioning seats 34a (see Figure 8 、 9, 10). In this case, it is therefore advantageous to be able to check the presence of the containers C on the respective receptacles 34a in order to verify that no container C is missing relative to the picked-up container C. Possibly, in this case, it is also possible to verify the correct positioning of the containers C relative to the receptacles 34a in order to prevent them from being in a position that is unfavorable for weighing and / or filling.

[0181] It will be clear that modifications and / or additional steps and / or components may be made to the method for weighing containers in a production line, the filling and weighing station and the corresponding production line as described above, without departing from the field and scope of the invention as defined in the claims.

[0182] It should also be clear that, although the invention has been described with reference to some specific examples, a person skilled in the art will certainly be able to realize many other equivalent forms of methods for weighing containers in a production line, filling and weighing stations and corresponding production lines (having the features described in the claims), all of which are therefore within the scope of protection defined by the claims.

[0183] In the following claims, references in parentheses are provided for reading convenience only and are not to be construed as limiting the scope of protection claimed in a particular claim.

Claims

1. A method for weighing a plurality of containers in a production line (10), the production line comprising at least one filling and weighing station (12), the filling and weighing station (12) being provided with a filling device (40) and a weighing device (33), the weighing device comprising a single weighing scale (33a), the weighing scale (33a) being used to weigh the plurality of containers, the weighing scale (33a) supporting a weighing plate (34), the weighing plate (34) being provided with a plurality of positioning seats (34a), each positioning seat being configured to receive and support a corresponding container, and characterized in that The method comprises the steps of: picking up the plurality of containers from a picking station, wherein the plurality of containers are empty, and moving the plurality of containers to the filling and weighing station (12); Positioning each of the plurality of containers in a corresponding seat of the plurality of positioning seats (34a); Weighing the total tare weight of all containers in the plurality of containers inserted into the plurality of positioning seats (34a) by means of the measuring scale (33a); Then: filling each of the plurality of containers with a predetermined dose of product in sequence by means of the filling device (40), the filling steps being performed in sequence while the plurality of containers remain housed in the plurality of positioning seats (34a) of the weighing plate (34), so that after the step of weighing the total tare weight, the plurality of containers do not need to be removed from the metering scale (33a); measuring the weight of the product metered into a first container of the plurality of containers by subtracting the total tare weight detected in the previously performed tare weighing step from the total weight determined at the end of the step of filling the first container; and then After the first container, the weight of the product metered into each container is measured, the total weight measured at the end of filling of the immediately preceding container being subtracted from the total weight determined at the end of filling of each container, wherein the net weight N(i+1) of the product metered into a given container by the filling device (40) at the instant of time i+1 is defined as the difference between the current weight P(i+1) detected by the weighing scale (33a) and the weight P(i) detected by the weighing scale (33a) when the previous filling was performed at time i: N(i+1)=P(i+1)-P(i) wherein i is a natural number from 0 to m, m is the number of a plurality of containers arranged and supported in the plurality of positioning seats (34a) of the corresponding weighing plate (34) associated with the metering scale (33a), and the step of measuring the weight of the product metered into the first container and each container is performed while the plurality of containers remain accommodated in the plurality of positioning seats (34a) of the weighing plate (34), so that during the steps of tare weighing, filling and measuring the weight of the product metered into the plurality of containers, the same container is stationary at least relative to the weighing device (33).

2. The method according to claim 1, wherein In the step of filling in sequence, the weight of each container is determined by measuring the difference between the weight detected by the weighing scale (33a) during the first filling and the weight of the total tare weight of the container initially detected by the weighing scale (33a), and subsequently by measuring the difference between the weight detected by the weighing scale (33a) during another filling and the weight detected by the weighing scale (33a) during the immediately preceding filling.

3. The method according to claim 1, wherein The picking step is performed by an automatic robotic arm.

4. The method according to claim 1, wherein In the sequential filling step, the filling device (40) is activated to deliver a predetermined product dose until a predetermined weight is reached as measured by the metering scale (33a), and when the predetermined weight is reached, the delivery of the product to each of the plurality of containers is interrupted.

5. The method according to claim 1, wherein The method further comprises: supplying a container holding tray (20) containing the plurality of containers arranged in an ordered manner according to a pattern defined by a positioning matrix (M1), The extraction device (22) is moved in a picking direction (W) relative to the container holding tray (20) and, by moving the extraction device (22), picks up at least two containers from a plurality of containers arranged in at least one row from the container holding tray (20), possibly on at least two parallel and consecutive rows (I, II) of the positioning matrix (M1).

6. The method according to claim 5, wherein In order to move the plurality of containers toward the filling and weighing station (12) and position the plurality of containers in the plurality of positioning seats (34a), the extraction device (22) is used, or a support plate (30) is used, wherein the plurality of containers are transferred by the extraction device (22).

7. The method according to any one of claims 1 to 6, wherein: The method comprises a control or checking step, which checks the presence or absence of a container and / or the correct number of containers and / or the correct positioning of the plurality of containers at least relative to the positioning of the plurality of positioning seats (34a) of the weighing plate (34) by means of optical acquisition.

8. A station for filling and weighing a plurality of containers, characterized in that The site contains: an extraction device (22) commanded to pick up a plurality of empty containers from a pick-up station and move the plurality of empty containers to a filling and weighing station (12); The filling and weighing station (12) comprises: a weighing device (33) comprising a single weighing scale (33a) for weighing the plurality of containers, the weighing scale (33a) supporting a weighing plate (34) provided with a plurality of positioning seats (34a), each positioning seat (34a) being configured to receive and support a corresponding container, and a filling device (40) configured to sequentially fill each of said plurality of containers with a product (P) in said filling and weighing station (12); A programmable command and control unit (50) operatively connected at least to the weighing device (33) and to the filling device (40) and configured to: i) first obtaining a measurement value of the total tare weight of all containers of the plurality of containers inserted in the plurality of positioning seats (34a) from the weighing scale (33a), ii) subsequently, driving the filling device (40) to sequentially fill each of the plurality of containers with a predetermined dose of product while the plurality of containers remain contained in the plurality of seats (34a) of the weighing plate (34), and iii) subsequently, obtaining again from the weighing scale (33a) a measurement of the weight of the product metered into each container, said measurement being obtained by subtracting the total weight obtained at the immediately preceding filling from the total weight obtained at each filling, said weight being identical to the total tare weight if a first container of the plurality of containers is filled, wherein the net weight N(i+1) of the product metered into a given container by the filling device (40) at the instant of time i+1 is defined as the difference between the current weight P(i+1) detected by the weighing scale (33a) and the weight P(i) detected by the weighing scale (33a) when the previous filling was performed at time i: N(i+1)=P(i+1)-P(i) wherein i is a natural number from 0 to m, m is the number of a plurality of containers arranged and supported in the plurality of positioning seats (34a) of the corresponding weighing plate (34) associated with the metering scale (33a), and the step of measuring the weight of the product metered into the first container and each container is performed while the plurality of containers remain accommodated in the plurality of positioning seats (34a) of the weighing plate (34), so that during the steps of tare weighing, filling and measuring the weight of the product metered into the plurality of containers, the same container is stationary at least relative to the weighing device (33).

9. The site according to claim 8, wherein The weighing plate (34) has a support rod (35), and the support rod (35) supports a positioning plate (36) at one end thereof, on which the plurality of positioning seats (34a) are arranged. The support rod (35) is connected to or installed on the measuring scale (33a).

10. The site according to claim 9, wherein The station further comprises a support plate (30) provided with a plurality of through holes (32) and configured to move the plurality of containers relative to the filling device (40), and the weighing plate (34) has a plurality of rods (37) protruding from the positioning plate (36), each rod supporting a support element (38), the support element (38) having an upper surface defining a corresponding positioning seat (34a) of the plurality of positioning seats (34a), the plurality of support elements (38) being adapted in a manner matching the shape of the plurality of through holes (32) of the support plate (30) so as to pass through the plurality of through holes (32) and allow the plurality of containers to rest on the corresponding positioning seats (34a).

11. The site according to claim 9, wherein The positioning plate (36) of the weighing plate (34) has a plurality of positioning seats (34a), and the plurality of positioning seats (34a) are made hollow or concave in the positioning plate (36), so that the plurality of containers can be inserted from above by means of the extraction device (22).

12. The site according to claim 11, wherein The extraction device (22) for extracting a plurality of containers is associated with a robotic arm.

13. The site according to any one of claims 8 to 12, characterized in that The filling and weighing station also comprises an optical inspection assembly (60) configured to check the presence or absence of a plurality of containers and / or the correct number of a plurality of containers and / or the correct positioning of the containers at least relative to the positioning of the plurality of positioning seats (34a) of the weighing plate (34).

14. The site according to any one of claims 8 to 12, characterized in that The plurality of positioning seats (34a) are aligned with each other or arranged in an offset or alternating space.

15. The site according to claim 14, wherein The plurality of positioning seats (34a) are in a plum blossom shape.

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