Method and apparatus for automatically stretching an opening flap of a reclosable package

Abstract

Method and apparatus (10, 110) for automatically stretching an opening flap (20) of a package (11) containing at least one object (12). The apparatus comprises a suction gripping member (25) configured to selectively and at least temporarily, but in a stable manner, cooperate with the package (11) so as to enable the opening flap to be identified and gripped for subsequent handling thereof.

Description

Technical Field

[0001] This invention relates to a method and corresponding apparatus for automatically stretching a flap of a sealed package, thereby facilitating the identification of the flap for subsequent processing, particularly for cutting the flap itself. The sealed package is, for example, a bag, sack, or pouch made of thin and flexible materials such as plastic, paper, or fiber, containing objects such as, but not limited to, containers or supports for bottles, vials, flasks, etc., in the chemical, medical, and pharmaceutical fields. Background Technology

[0002] In the chemical, medical, and pharmaceutical fields, products and substances can be packaged in specialized containers suitable for containing single or multiple doses to facilitate the sorting and administration of the dosage.

[0003] These known containers can be, for example, bottles, flasks, vials, syringes, cartridges, such as those used in syringes for administering anesthetics or other drugs.

[0004] These known containers are transported by arranging them neatly in shelves or trays (the English term "nest" as well as those skilled in the art), which are housed in slightly larger trays (the English term "tub" as well as those skilled in the art).

[0005] To protect the contents of the container from the risk of external contamination and to prevent leakage of the contents (e.g., breakage or damage that may occur subsequently during transport), the container is sealed in a first package or bag, which is typically made of a thin, flexible polymeric material or through filter paper / Tyvek spunbond polypropylene fiber Tyvek paper.

[0006] The first bag containing the basin is then sealed inside a second package or bag made of the same thin and flexible polymer material to increase security, which facilitates transportation and also allows for the application of barcodes or QR codes, for example, on the second bag, which will make the automatic identification of the contents of the bag faster.

[0007] This type of packaging is highly efficient on automated processing lines, where various industrial machines and robots can identify and handle various sealed containers inside the bags without the need for external operator intervention. It ensures high-speed execution and high safety during processing, especially when operation is required in a sterile environment.

[0008] Therefore, in order to remove a single basin from two bags, the operator or automated machine simply needs to identify the opening flap of each bag (which is usually located on one side of each bag) to cut it open and remove the contents.

[0009] However, especially when using automated machines, it can be particularly difficult to identify the opening cap when it is deformed or wrinkled, sometimes making it difficult or even impossible to automatically identify the cap itself and open it, for example, by cutting it open.

[0010] Specifically, a device for orienting rigid or semi-rigid objects contained in a bag is known, which uses a rotating brush, allowing the object to be oriented in a defined direction such that an opening cap is positioned to be subsequently cut open by rubbing it against the rotating brush. However, this generates numerous particles that contaminate the typically sterile environment in which these devices are usually operated.

[0011] This known equipment is also not well-suited for handling fragile or easily damaged objects containing chemicals and / or pharmaceuticals. Furthermore, the relative height between the rotating brushes must be frequently adjusted to fit the actual size of the bags being processed, making the equipment inefficient and unreliable.

[0012] Another known device, for identifying the opening of a sealed bag, is equipped with a pointed tubular element or needle inserted into the bag itself to inflate it under pressure, much like a balloon, thereby facilitating the identification of the opening to be cut open. Inserting the needle into the sealed bag means it must be sterilized before each use, making the method overly time-consuming and laborious.

[0013] However, this technical solution is not even suitable when dealing with packaging and containers that contain chemical and / or pharmaceutical substances that may, for example, react with the blown-in air, thus jeopardizing their quality and, in some cases, their availability.

[0014] An apparatus for automatically handling packaging is also known, which is configured to operate in a controlled environment (a so-called "vacuum" environment) at a pressure below atmospheric pressure. In fact, creating a vacuum in the environment containing the packaging causes the volume of air contained within it to expand, thereby stretching the outer surface of the packaging and enabling subsequent identification of the opening cap.

[0015] However, such known devices are very complex and expensive because they require facilities to create a vacuum or sufficiently low pressure and to keep the working environment airtight; their operation is also particularly complex and therefore expensive from a maintenance perspective.

[0016] Furthermore, a device is known that has a rotating clamp adapted to grip a portion of a package, rotate itself, and then slide the portion of the package around an object contained within it. However, this known device is not suitable for effectively identifying open flaps, especially if the package is particularly deformed or wrinkled.

[0017] So-called “stretching” devices are also known, which are configured to allow a package containing an object to pass under a fixed robotic arm, for example by moving the object on a conveyor belt, the compression of which stretches the outer surface of the containing bag.

[0018] This type of technical solution has the following disadvantages: it is not suitable for situations where the objects contained in the bag are rigid, and therefore it is not very suitable for deformation, thus posing a risk of even irreversible damage to its contents.

[0019] Similarly, in other technical fields other than chemistry, medicine, and pharmaceuticals, there are known technical solutions for automatically handling groups of objects wrapped in packaging by means of suction cups connected to a suction system.

[0020] For example, JPH02152643A describes a technical solution that is configured to cut open the packaging surrounding a stack of printed paper and insert a rod therein to prevent the operation performed on the packaging from damaging the paper contained therein.

[0021] JPH05294305A describes a technical solution configured to automatically replace the protective film of a packaged object with a new protective film.

[0022] EP0625465A2 describes a technical solution for automatically removing a protective sheet, the protective sheet being arranged to contact objects stacked on a shipping pallet and disposed inside a packaging film that typically tightly wraps the shipping pallet.

[0023] These solutions are also very large and unsuitable for handling packaging containing fragile or easily damaged objects, such as those made of glass, containing chemical products, and / or pharmaceuticals.

[0024] Therefore, there is a need for a device that can automatically stretch open caps of closed packages containing more than one object (especially containers for pharmaceutical, medical and / or chemical applications), thereby facilitating the identification of open caps. This overcomes at least one drawback of the prior art and can be operated on automated processing lines, especially when processing is required in a sterile environment. Summary of the Invention

[0025] Therefore, one object of the present invention is to improve a method and provide an apparatus for automatically stretching the opening cap of a closed package containing at least one object (e.g., a container for pharmaceutical, medical and / or chemical applications), thereby facilitating the identification of the opening cap of the package.

[0026] Another object of the present invention is to improve a method and provide an apparatus for automatically stretching the opening cap of a closed package containing at least one object (e.g., a container for pharmaceutical, medical and / or chemical applications), which is capable of operating in an automated manner and without operator intervention.

[0027] Another object of the present invention is to improve a method and provide an apparatus for automatically stretching the opening cap of a closed package containing at least one object (e.g., a container for pharmaceutical, medical and / or chemical applications) that ensures high hygiene standards and therefore does not expose the contents to the risk of contamination.

[0028] Another object of the present invention is to improve a method and provide an apparatus for automatically stretching the opening cap of a closed package containing at least one object (e.g., a container for pharmaceutical, medical and / or chemical applications) without the risk of damaging its contents.

[0029] The applicant has designed, tested and implemented the present invention to overcome the disadvantages of the prior art and to obtain these and other objectives and advantages.

[0030] This invention is proposed and is characterized by the independent claims. The dependent claims describe other features of the invention or variations of the main inventive concept.

[0031] According to the above objective, a method for automatically stretching the opening lid of a closed package (the closed package containing at least one object with sufficient clearance inside, wherein the package is provided with a first outer surface and is provided with an opening lid) includes at least the following steps:

[0032] a) Prepare an actuating member, the actuating member being provided with a first gripping device configured to selectively and temporarily engage with the closed package by suction, thereby temporarily integrating the actuating member with the first outer surface;

[0033] b) Perform a mutual approach between the actuating member and the first outer surface of the package, such that the first gripping device is located in front of the first outer surface, i.e., the first outer surface is located between the actuating member and the object;

[0034] According to one aspect of the present invention, the method further includes at least the following steps:

[0035] c) Drive the first gripping device to create a temporary but stable connection between the actuating member and the first outer surface of the closed package by suction, thereby preventing relative movement between the first outer surface and the actuating member while allowing movement of the object within the closed package.

[0036] According to one aspect of the present invention, the method further includes at least the following steps:

[0037] d) Move the manipulator to generate relative movement between the closed package and the object. Therefore, in step d), the object inside the package is shaken until the opening cap stretches, so that the opening cap is more easily identifiable and can be used for subsequent processing of the package, especially for the step of cutting open the stretched cap.

[0038] According to another aspect of the invention, during step d) of moving the manipulator, the manipulator moves through at least two degrees of freedom.

[0039] According to another aspect of the invention, the method further includes another step e), wherein a second gripping device opposite to the first gripping device selectively and at least temporarily cooperates with a second outer surface of the package opposite to the first outer surface, such that relative movement between the second outer surface and the second gripping device is prevented, while allowing free movement of the object within the package.

[0040] According to another aspect of the invention, the second gripping device includes one or more suction cups or one or more suction members, which can be selectively activated to establish a temporary connection with the second outer surface of the package.

[0041] According to another aspect of the invention, the object is disinfected and includes at least one basin and / or tray, and preferably the steps of the above-described method are performed in an environment with a controlled atmosphere.

[0042] According to another aspect of the invention, the packaging is a bag and the first outer surface is a wall, pleat, or sheet of such a bag. Similarly, the second outer surface is also another wall, pleat, or sheet of such a bag.

[0043] According to another aspect of the invention, an apparatus is provided for stretching the opening cap of a closed package containing at least one object with sufficient clearance inside, wherein the package has a first outer surface and the opening cap is provided. The apparatus includes an actuating member having a first gripping device, the first gripping device being configured to selectively and temporarily engage with the closed package. The actuating member is configured to be carried to the vicinity of the first outer surface of the package such that the first gripping device is positioned in front of the first outer surface, i.e., the latter is located between the actuating member and the object. The first gripping device is configured to be driven to create a temporary but stable engagement between the actuating member and the first outer surface by suction, thereby preventing relative movement between the first outer surface and the actuating member while allowing movement of the object within the closed package.

[0044] According to one aspect of the invention, the manipulating member is configured to be moved to generate relative movement between the closed package and the object, thereby causing the object to shake within the closed package until the opening cap is stretched, so that the opening cap can be identified and used for subsequent processing of the closed package, particularly for the step of cutting open the stretched cap.

[0045] According to another aspect of the invention, the suction component of the first gripping device includes one or more suction cups connected to a system for generating air suction.

[0046] According to another aspect of the invention, the device further includes a second gripping device opposite to the first gripping device and configured to selectively and temporarily engage with a second outer surface of the package opposite to the first outer surface, such that relative movement between the second outer surface and the second gripping device is prevented while allowing movement of the object within the package.

[0047] According to another aspect of the invention, the second gripping device includes one or more suction cups connected to a system for generating air suction.

[0048] According to another aspect of the invention, the device further includes a support member configured to be placed below the packaging, thereby supporting the packaging and being able to carry the packaging in accordance with the first gripping device.

[0049] According to another aspect of the invention, the support device is configured such that the package containing the at least one object also contacts the second gripping device. The support device is provided with an aperture sized to allow the second gripping device to selectively engage with the second outer surface of the package by passing through the aperture of a specific size.

[0050] According to another aspect of the invention, the manipulation member is configured as a robotic arm associated with a robot.

[0051] According to another aspect of the invention, the manipulating member is configured to move in space with at least two degrees of freedom when it causes the at least one object to shake within the packaging.

[0052] According to another aspect of the invention, the device is sized and configured to be inserted into a receiving compartment that is sterilized and / or has a controlled atmosphere.

[0053] According to another aspect of the invention, a unit is provided for stretching and cutting open the opening cap of a package containing at least one object, wherein such a unit includes the device as described above, and a cutting device configured to cut the opening cap after the opening cap has been stretched by the device. Attached Figure Description

[0054] These and other aspects, features, and advantages of the present invention will become apparent from the following description of feasible embodiments given by way of non-limiting example with reference to the accompanying drawings, in which:

[0055] - Figure 1 A side view of an apparatus for automatically stretching and closing a package according to the invention and a first embodiment, under first operating conditions, wherein the package containing an object is also shown.

[0056] - Figure 2 For the second operating condition Figure 1 A side view of the device;

[0057] - Figure 3 For the third operating condition Figure 1 A side view of the device;

[0058] - Figure 4 For the fourth operating condition Figure 1 A side view of the device;

[0059] - Figure 5 for Figure 1 The interior contains a magnified 3D view of the packaging of the object;

[0060] - Figure 6 for Figure 1Three-dimensional and schematic diagrams of the object, showing examples of containers;

[0061] - Figure 7 for Figure 1 The equipment includes a perspective view and a schematic diagram, which also shows the support used for packaging;

[0062] - Figure 8 A perspective view of an apparatus for automatically stretching and sealing a package opening cap according to the present invention and a second embodiment;

[0063] - Figure 9 for Figure 8 A three-dimensional view of the equipment, which also shows the support used for packaging;

[0064] - Figure 10 A schematic side view of a unit including the device according to the invention for stretching and cutting open the opening cap of a closed package.

[0065] It is important to clarify that in this specification and claims, the terms "horizontal," "vertical," "high," "low," "inner," "outer," "upper," and "lower," and their angles, serve only to better illustrate the invention with reference to the accompanying drawings, and must not be used in any way to limit the scope of the invention itself or the area of ​​protection defined by the appended claims. For example, the term "vertical" refers to a plane perpendicular to the horizon, or even a plane inclined at a certain degree relative to the horizon, such as up to 20°. Furthermore, the terms "packaging" and "bag" are considered synonyms.

[0066] In addition, those skilled in the art will recognize that certain dimensions or features in the accompanying drawings may have been enlarged, distorted, or shown in an unconventional or disproportionate manner to provide a more easily understood version of the invention.

[0067] When dimensions and / or numerical values ​​are specified in the following description, the dimensions and / or numerical values ​​provided are for illustrative purposes only and should not be construed as limiting the scope of protection of the invention, unless such dimensions and / or numerical values ​​are present in the appended claims.

[0068] For ease of understanding, the same reference numerals are used to identify the same common elements in the figures where possible. It should be understood that elements and features of one embodiment can be readily incorporated into other embodiments without further explanation. Detailed Implementation

[0069] Reference Figure 1The device 10 according to the invention is configured to facilitate the automatic opening of a closed package 11 containing at least one object 12 (e.g., a container for pharmaceutical, medical, and / or chemical applications). For example, the device 10 can be arranged in an automated processing line of a known type, or in an automated processing line that will be developed in the future and is not shown in the figures.

[0070] For symbolic and non-limiting purposes, before describing the device 10 in detail, we will now describe examples of the package 11 and the object 12.

[0071] 12 for each object Figure 6 It can include or be composed of a first rigid or semi-rigid container 13 that is substantially parallelepiped in shape, wherein, as is known in the prior art, other containers, such as basins 15, can be arranged, which in turn include shelves, trays or nests 16, which can in turn contain chemical products and / or pharmaceuticals packaged in flasks, vials, bottles, etc., collectively indicated by 17.

[0072] For example, in pharmaceutical applications, the standard size of object 12 can be approximately 65×40×30cm.

[0073] For example, package 11 ( Figure 5 It can comprise a bag formed of two sheets 18, 19, which are parallel to each other and joined, for example, by welding along their edges, to define an opening flap 20 as known in the prior art.

[0074] Therefore, each of the two sheets 18, 19 defines the outer surface of the package 11. Note that reference numerals 18, 19 will be used interchangeably to indicate the corresponding outer surfaces of these sheets and the packages 11 defined therethereby.

[0075] Please note that in possible variations not shown in the accompanying drawings, package 11 may have a shape different from the shape described above, for example, consisting of different numbers of sheets (e.g., three, four, or five).

[0076] In addition, the package 11 typically has a capacity that is sufficiently large to accommodate the object 12, for example, at least 20% and up to 100% larger, so that the latter can move within the package 11 while remaining sealed.

[0077] Packaging 11 can be made of any thin, flexible and deformable material, allowing it to conform to the shape of object 12, such as polymeric materials, such as tear-resistant but easily cut nonwoven fabric composed of high-density polyethylene fibers.

[0078] In other words, during use, the packaging 11 takes on the shape of the object 12 contained therein, and may collapse around it.

[0079] Reference Figure 1 The device 10 includes a first moving device 21, which serves as a manipulator component and is configured to grasp the package 11 and shake the object 12 contained therein by displacement and rotation in space, as will be described in detail below.

[0080] First mobile device 21 Figure 7 It includes a column 22 having, for example, a vertical longitudinal axis X, and an arm 23 mounted on the column 22, the arm 23 being located on a transverse axis Z1 that is substantially perpendicular to the longitudinal axis X.

[0081] The column 22 can be, for example, telescopic, to allow the arm 23 to move along the longitudinal axis X between an idle position and a working position, as will be described in detail below. Obviously, other technical solutions can also be used to move the arm 23 along the longitudinal axis X.

[0082] Furthermore, the connection between the column 22 and the arm 23 can be made in a manner that allows the arm 23 to rotate about the transverse axis Z1.

[0083] Furthermore, according to some embodiments not shown in the accompanying drawings, the base of the column 22 may be mounted on a rotating support rather than on a fixed structure, the rotating support being electrically or mechanically driven and configured to allow the column 22 itself and thus the arm 23 to rotate about the longitudinal axis X.

[0084] Furthermore, arm 23 is shaped to have more than one cantilevered extension 24, and in the embodiment shown herein by way of non-limiting example, there are three extensions 24. Note that the number of extensions 24 can be arbitrarily chosen depending on the size of device 10 and package 11.

[0085] A first gripping element 25 is arranged in the lower part of each extension 24. The first gripping element 25 is oriented downward and configured to selectively and temporarily associate with the outer surface of the first sheet 18 of the package 11.

[0086] The first gripping element 25 includes, for example, a suction cup of a known type, or any other component capable of applying adhesive force by applying localized low air pressure to ensure a stable, albeit temporary, connection with the outer surface of the package 11.

[0087] In the embodiment shown herein, the first gripping element 25 is connected via a suitable tube 26 to a device 27 for generating air suction, which can be of any known type and can include, for example, a compressor.

[0088] The device 27 for generating air suction is configured to generate at least partially low air pressure relative to the atmosphere or relative to the compartment containing the device 10.

[0089] According to other possible embodiments, the first moving device 21 or at least the first gripping element 25 may be mounted on, for example, the robotic arm of an anthropomorphic robot to allow the same first moving device 21 to perform motion in space with several degrees of freedom (e.g., six).

[0090] The device 10 also includes a tray 29 configured to move a package 11 containing an object 12 from a first position away from the device. Figure 1 ) Carry to the second position or working position corresponding to the first mobile device 21 ( Figure 2 ), and especially below the first gripping element 25.

[0091] The pallet 29 is of sufficient size to ensure that the object 12 contained in the package 11 is stored properly.

[0092] The tray 29 can be mounted, for example, on the arm of an automated robot, or on a simple robotic arm (not shown), configured to cooperate with the first gripping element 25 to carry the package 11 containing the object 12.

[0093] according to Figure 8 and Figure 9 Another embodiment shown is similar to device 10. In addition to the elements described above, device 110 also includes a second mobile device 121, which is substantially a mirror image of the first mobile device 21.

[0094] Specifically, the second moving device 121 includes a robotic arm 123 located on the transverse axis Z2, and one or more cantilevered extensions 124, three of which are provided in the example herein, but may be of different numbers depending on the package 11 and in particular on the size of the second sheet 19.

[0095] In addition, the second moving device 121 includes a second gripping element 125 disposed in the upper portion of each extension 124, the second gripping element 125 being oriented upward and configured to selectively and temporarily associate with the outer surface of the second sheet 19 of the package 11.

[0096] Similar to the first gripping element 25, the second gripping element 125 can also be connected via a suitable tube (not shown) to a device 27 for generating air suction, or to another similar device, which can be of any known type and includes, for example, a compressor.

[0097] In the example described herein, three cantilevered extensions 124 are positioned such that the second moving device 121 is opposite the first moving device 21.

[0098] Therefore, a working compartment is formed between the two opposing moving devices 21 and 121, in which the package 11 containing the object 12 can be arranged in subsequent operations, as will be described in detail below.

[0099] The dimensions of the work compartment and the distance between the two moving devices 21, 121, which are in the idle position as described above, need to ensure the possibility of correct positioning of the package 11 containing the object 12, and the minimum distance between the first gripping element 25 and the second gripping element 125 needs to be sufficiently greater than the height of the object 12.

[0100] Advantageously, the second moving device 121 can have a moving system separate from the first moving device 21. For example, the second moving device 121 can move along the column 23 via a mechanism different from that used by the first moving device 21. Therefore, the size of the working compartment between the first moving device 21 and the second moving device 121 can be easily changed.

[0101] This means that the device 110 can advantageously operate with a package 11 containing objects 12 of different sizes (e.g., different heights).

[0102] Device 110 also includes a tray 129, which is also configured to... Figure 1 The first position shown carries the package 11 containing the object 12 to the second position, that is, below the first gripping element 25, and therefore, in this case, also corresponds to the second gripping element 125. Figure 9 ).

[0103] Furthermore, the shape of the tray 129 allows the second gripping element 125 to selectively engage with the second outer surface 19 of the package 11, even when the tray 129 itself corresponds to the second gripping element 125.

[0104] In the example shown, tray 129 includes three cantilevered extensions 130 that engage with cantilevered extensions 124 of the second moving device 121. A hole 131 is defined between two adjacent cantilevered extensions 130, sized to allow a corresponding cantilevered extension 124 to be inserted therein, such that the second gripping element 125 can pass through these holes 131 to reach the second outer surface 19 of the package 11.

[0105] In this way, the tray 129 and the second moving device 121 are able to perform relative movements with respect to each other, such as horizontal and / or vertical, without any interference between them, and therefore without hindering the operation of associating the package 11 with the package second gripping element 125.

[0106] The tray 129 can also be mounted, for example, on the arm of an automated robot of a known type, which is not shown in the figures, and the arm is configured, for example, to carry a package 11 and an object 12 in a working compartment between a first gripping element 25 and a second gripping element 125.

[0107] Devices 10 and 110 are sized and configured to be inserted into any known type of containment chamber or working environment that has been sterilized and / or has a controlled atmosphere, not shown in the figures.

[0108] The functions of devices 10 and 110 described above (and corresponding to the methods for enabling them to function) are as follows.

[0109] We will first describe the function of device 10, and then we will only emphasize the differences between device 110 and device 10, since many processing steps are common to both devices.

[0110] Initially, the object 12, sealed inside the packaging 11 and capable of being placed on the tray 29, is in Figure 1 The first position is shown. Subsequently, the pallet 29, together with the package 11 and the object 12 contained therein, is transported below the first gripping element 25 using any known moving device (e.g., a robot that can be used in the case of an automated processing line). Figure 2 Transportation methods that do not produce particulate matter, such as planar motors, will be favored.

[0111] Subsequently, in the following associated steps, the package 11 containing the object 12, placed on the tray 29, comes into contact with the first gripping element 25. Figure 3 ).

[0112] As the first moving device 21 approaches the tray 29 containing the object 12 contained in the package 11, the first grasping element 25 of the first moving device 21 approaches the first sheet 18 of the package 11.

[0113] For example, by lifting the tray 29 mounted on the arm of an automated robot, the package 11 containing the object 12 can be brought into contact with the first gripping element 25 by means of its vertical displacement.

[0114] Alternatively, the first gripping element 25 may come into contact with the package 11 containing the object 12 by the vertical downward displacement of the first moving device 21 (e.g., by the telescopic action of the column 22, or alternatively, by the vertical movement of the first moving device 21 on the same column 22).

[0115] If the first moving device 21 is mounted on the robotic arm of a robot (e.g., an anthropomorphic robot), the latter can be programmed to automatically bring the first gripping element 25 into contact with the outer surface of the first sheet 18 of the package 11 containing the object 12.

[0116] On the other hand, equipment 110 ( Figure 8 and Figure 9 The first gripping element 25 provides proximity between the outer surface of the first sheet 18 of the package 11, and the second gripping element 125 provides proximity between the outer surface of the second sheet 19 of the same package 11.

[0117] For example, an object 12 contained in a package 11 arranged on a tray 129 can be placed into the work compartment as described above and then come into contact with the second gripping element 125 of the second moving device 121.

[0118] The tray 129 can, for example, move vertically downwards away from the work compartment by means of the mating shape between the same tray 129 and the second moving device 121.

[0119] In both cases, the package 11 will contact the first gripping element 25 on its upper part (i.e., on the outer surface of the first sheet 18) and also contact the second gripping element 125 on its lower part (i.e., on the outer surface of the second sheet 19).

[0120] Subsequently, for example, a command signal from a control unit 28 of a known type is used to activate the device 27 for generating air suction. Figure 7 The control unit 28 receives, for example, signals from a contact sensor or a proximity sensor, which is also of a known type and not shown in the figures, and can be installed in devices 10 and 110.

[0121] The suction effect generated by the device 27 for generating air suction causes a localized indentation between the first gripping element 25 and the first sheet 18 of the package 11, thus creating a stable grip between them, which can be interrupted at will by commanding the same device 27 used to generate vacuum suction.

[0122] Therefore, the first sheet 18 of the packaging 11 will be grasped by the first gripping element 25 of the first moving device 21, while the object 12 will not be constrained to the first gripping element 25 and will thus be able to move freely within the packaging 11. Figure 4 ).

[0123] In the device 110, the actuation of the device 27 for generating air suction also causes a localized indentation between the second gripping element 125 and the second sheet 19 of the package 11, thus also creating a stable grip between them.

[0124] Therefore, the first sheet 18 of the packaging 11 will be gripped by the first gripping element 25 of the first moving device 21, while the second sheet 19 of the packaging 11 will be gripped by the second gripping element 125 of the second moving device.

[0125] In both cases, object 12 will therefore be able to move freely within package 11.

[0126] Subsequently, for example by downward displacement of the same pallet 29, the package 11 containing the object 12 will be released from the support of the pallet 29.

[0127] The force of gravity acting on the mass of object 12 will push it downwards, which will at least partially drag the second sheet 19 of package 11, while the upper part of the same package 11 will be confined therein to reach the first moving device 21 in a stable but temporary manner. If necessary, and depending on the type of container 17 contained in package 11, the latter operation can be repeated several times, and, if necessary, the object 12 contained in package 11 can be flipped, thus determining even more significant shaking of object 12.

[0128] In this way, the weight of the object 12 will exert a stretching effect on the wall forming the package 11, making the opening lid 20 more visible and easily identifiable.

[0129] In device 110, when the first gripping element 25 and the second gripping element 125 grip the outer surfaces defined by the sheets 18 and 19 of the packaging 11 respectively, the stretching action described above can be assisted by the selective distancing between the first moving device 21 and the second moving device 121.

[0130] For example, once the first sheet 18 of the package 11 is gripped by the first gripping element 25 and the second sheet 19 of the package 11 is gripped by the second gripping element 125, the vertical displacement of the first moving element 21 in the upward direction will at least partially drag the package 11, and the package 11 will be stably, at least temporarily, gripped in its lower outer surface by the second moving device 121 in any case.

[0131] In this way, the outer surface of the packaging 11 will be subjected to stretching and subsequent flattening of the first sheet 18 and the second sheet 19.

[0132] Subsequently, the first moving device 21 will be able to perform movement and rotation in space to improve the flattening effect caused by the movement of the rocking body 12 on the wall of the packaging 11.

[0133] The aforementioned movement in space can be, for example, a vertical movement along the longitudinal axis X, and the aforementioned rotation can include, for example, rotation about the transverse axis Z1, rotation about the transverse axis Z2, or rotation about the same longitudinal axis X.

[0134] For example, the first moving device 21 can perform vertical vibration, horizontal vibration or rotation, so that the object 12 can move freely within the package 11, or a combination thereof, thus exerting a more effective flattening and stretching effect on all the walls forming the package 11 (i.e., on its outer surface).

[0135] In this step, the first moving device 21 and the second moving device 121 of the device 110 can be configured to perform movements in different directions, such as movements that are opposite to or inconsistent with each other.

[0136] For example, the first moving device 21 can perform horizontal vibration, while the second moving device 121 can perform vertical vibration within the same time interval, or can perform horizontal vibration out of phase with the first moving device 21.

[0137] Subsequently, once the outer surface of the packaging 11 is flattened and stretched by the action of the first moving device 21 and possibly also by the second moving device 121, the opening cap 20 will be more easily, faster and more intuitively identified, so that such identification can be performed by any known device or device that will be developed in the future and is not shown in the accompanying drawings, even for automated equipment or machines capable of stretching the opening cap 20.

[0138] Through examples, especially referring to Figure 10 Devices 10 and 110 can be advantageously used in the context of units for stretching and cutting open the opening cap 20, which are generally identified by reference numeral 50 and will be simply referred to as "units" hereinafter. Unit 50 includes devices 10 and 110. Note that... Figure 10The example shown illustrates device 10, but it is clear that unit 50 can be included in a completely equivalent manner. Figure 8 and Figure 9 The device 110 shown replaces device 10. In the example shown, manipulator component 21 is associated with robot 51, such as a robot with six degrees of freedom that includes multiple arms hinged relative to each other.

[0139] Unit 50 also includes a cutting device 52 of known type and not described in detail herein. The cutting device 52 includes a movable or fixed cutting blade, or an equivalent cutting or shearing member capable of cutting open the opening cap 20 to separate the opening cap 20 from the packaging and thus determine that the opening cap 20 is open. This preferably occurs in a hygienic and sterile environment.

[0140] Depending on the construction of the cutting device 52, the unit 50 may include a gripping member 53 configured to grip the free end of the opening cap 20 at least during cutting, thereby keeping it properly stretched and thus facilitating the cutting operation performed by the cutting device 52.

[0141] It is clear that modifications and / or additions to components or steps of the devices 10 and 110 described so far can be made without departing from the scope and range of the invention as defined in the claims.

[0142] It is also clear that although the invention has been described with reference to some specific examples, those skilled in the art will certainly be able to implement many other equivalent forms of devices and / or methods for automatically stretching and closing packaging caps, all of which fall within the scope of the invention.

[0143] In the appended claims, the reference numerals in parentheses are for ease of reading only and shall not be regarded as limiting factors with respect to the scope of protection defined by the same claims.

Claims

1. A method for stretching an opening cap (20) of a closed package (11), the closed package (11) containing at least one object (12) with sufficient clearance inside, wherein the package (11) is provided with a first outer surface (18) and the opening cap (20) is provided, the method comprising the steps of: a) Prepare an actuating member (21) provided with a first gripping device (25) configured to selectively and temporarily engage with the closed package (11) by suction; b) Perform mutual approach between the manipulating member (21) and the first outer surface (18) of the package (11) such that the first gripping device (25) is located in front of the first outer surface (18); c) Drive the first gripping device (25) to create a temporary but stable connection between the manipulating member (21) and the first outer surface (18) of the closed package (11) by suction, thereby preventing relative movement between the first outer surface (18) and the manipulating member (21) while allowing the object (12) to move within the closed package (11); Its characteristic is that it further includes the following steps: d) Moving the actuating member (21) to generate relative movement between the closed package (11) and the object (12), the step of moving the actuating member (21) being performed in such a manner as to shake the at least one object (12) within the closed package (11) until causing the opening cap (20) to stretch, so that the opening cap (20) can be identified and used for subsequent processing; and e) Using the gripping member (53), grip the stretched opening cap (20) and cut the closed package (11) in the area between the gripped stretched opening cap (20) and the at least one object (12).

2. The method as described in claim 1, characterized in that, During step d), when the manipulator (21) is moved, the manipulator (21) moves by at least two degrees of freedom.

3. The method as described in claim 1, characterized in that, It also includes a further step in which a second gripping device (125) opposite to the first gripping device (25) selectively and at least temporarily cooperates with a second outer surface (19) of the package (11) opposite to the first outer surface (18), such that relative movement between the second outer surface (19) and the second gripping device (125) is prevented, while allowing the object (12) to move freely within the package (11).

4. The method as described in claim 3, characterized in that, The second gripping device (125) includes one or more suction cups or one or more suction members, which can be selectively activated to establish a temporary connection with the second outer surface (19) of the package (11).

5. The method of claim 1, wherein, The object (12) is disinfected and includes at least one basin (15) and / or tray (16).

6. The method of claim 1, wherein, The packaging (11) is a bag and the first outer surface (18) is the wall of the bag.

7. A device (10, 110) for stretching an opening cap (20) of a closed package (11), the closed package (11) containing at least one object (12) with sufficient clearance inside, wherein the package (11) is provided with a first outer surface (18) and the opening cap (20) is provided, wherein the device (10, 110) includes an actuating member (21) having a first gripping device (25) provided with a suction member configured to selectively and temporarily engage with the closed package (11), wherein the actuating member... The item (21) is configured to be carried to the vicinity of the first outer surface (18) of the package (11), such that the first gripping device (25) is located in front of the first outer surface (18), and wherein the first gripping device (25) is configured to be driven to create a temporary but stable connection between the actuating member (21) and the first outer surface (18) by suction, thereby preventing relative movement between the first outer surface (18) and the actuating member (21) while allowing movement of the object (12) within the closed package (11), characterized in that, The manipulating member (21) is configured to be moved to generate relative movement between the closed package (11) and the object (12), such that the at least one object (12) is shaken within the closed package (11) until the opening cap (20) is stretched, so that the opening cap (20) can be identified and used for subsequent processing of the closed package (11); and wherein the device (10, 110) further includes a gripping member (53) and a cutting device (52), the gripping member (53) being configured to grip the stretched opening cap (20), and the cutting device (52) being configured to cut the closed package (11) in the area between the stretched opening cap (20) gripped by the gripping member (53) and the at least one object (12).

8. The device (10, 110) as claimed in claim 7, characterized in that, The suction component of the first gripping device (25) includes one or more suction cups connected to a system (27) for generating air suction.

9. The device (10, 110) as claimed in claim 7, characterized in that, It also includes a second gripping device (125) which is opposite to the first gripping device (25) and configured to selectively and temporarily engage with a second outer surface (19) of the package (11) opposite to the first outer surface (18), such that relative movement between the second outer surface (19) and the second gripping device (125) is prevented, while allowing movement of the object (12) within the package (11).

10. The device (10, 110) as claimed in claim 9, characterized in that, The second gripping device (125) includes one or more suction cups connected to a system for generating air suction.

11. The device (10, 110) as claimed in claim 9, characterized in that, It also includes a support member (129) configured to be placed under the package (11) to support the package (11) and to carry the package (11) in relation to the first gripping device (25).

12. The device (10, 110) as claimed in claim 11, characterized in that, The support member (129) is configured to contact the package (11) containing the at least one object (12) with the second gripping device (125), and is characterized in that the support member (129) is provided with a hole (131) sized to allow the second gripping device (125) to selectively engage with the second outer surface (19) of the package (11) by passing through the hole (131).

13. The device (10, 110) as claimed in claim 7, characterized in that, The manipulation member (21) is configured as a robotic arm associated with the robot.

14. The device (10, 110) as claimed in claim 7, characterized in that, The manipulation member (21) is configured to move in space with at least two degrees of freedom when it causes the at least one object (12) to shake within the package (11).

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