Method for filling and weighing containers and related filling and weighing unit

Abstract

The present invention provides a method of filling and weighing containers and a related filling and weighing unit, the method comprising: providing a support structure to support a plurality of containers in a substantially stable position, wherein the support structure is provided with a plurality of openings into which the containers are inserted, each container protruding downwardly from a respective opening and each container being held suspended from an abutment with a support portion of the support structure; moving the support structure with the containers to a weighing station, the weighing station comprising a weighing element; filling at least one of the containers suspended on the support structure with a predetermined dose of a liquid substance; weighing the at least one container filled with the liquid substance. The present invention can overcome at least one drawback of the prior art.

Description

[0001] This application is a divisional application of application number 201780059401.6, filed on July 28, 2017, entitled "Method for Weighing Containers and Related Weighing Units". Technical Field

[0002] This invention is generally related to containers such as sample vials, vials and syringes used in the pharmaceutical industry.

[0003] In particular, this relates to a method for weighing empty or container-filled containers, and a related weighing unit for implementing the method. Background Technology

[0004] The pharmaceutical industry often needs to fill pre-defined doses of medicine into containers such as sample vials, vials, and syringes.

[0005] In such cases, the amount of medication in the container has a very low margin for error; a ready-to-use syringe is a precise example.

[0006] The existing technology in this field involves providing a nest that can hold multiple empty containers to be filled, from which a robotic arm removes the containers one by one and weighs them individually to obtain the correct weight.

[0007] Usually, the weight of the empty container mentioned before filling is measured first.

[0008] After the weight of the empty container is obtained, when the container is returned to the nest and filled, the robotic arm will continue to remove one container at a time from the nest and weigh one of the containers in a specific way to obtain the weight of the container and its contents (total weight). The specific way is often by using a weighing sensor.

[0009] To expedite the weighing of empty containers and the intended items to be filled, the robotic arm can simultaneously remove more containers from the nest and, after weighing, return them to the nest from which they were removed.

[0010] The above method has some drawbacks in terms of the process time of the weighing step. Even though many modern systems have reduced the time, while helpful, they do not allow for high speeds because there is always a need to remove the container from the nest to perform the weight measurement.

[0011] As described above, each container needs to be removed from the nest twice, because the empty weight of each container and the total weight of each container containing its contents must be measured.

[0012] European patent document EP-A-2949353 discloses a vertical displacement device comprising a plurality of push rods arranged to correspond to a plurality of sample bottles regularly arranged in a support structure, the push rods being vertically raised from the bottom, and a weight sensor possibly being attached to the top of the vertical displacement.

[0013] In other words, the weight sensor is driven vertically to contact the sample bottle for weighing.

[0014] The movement of the weight sensor means that the measured weight lacks accuracy; moreover, a long time must be waited to obtain a stable weight measurement in order to suppress the vibration caused by the vertical movement of the weight sensor.

[0015] Furthermore, a system for moving the weight sensor must be provided, which is sophisticated and relatively small, resulting in increased production costs. Summary of the Invention

[0016] The first objective of this invention is to provide a universal method for weighing multiple containers contained in a nest, thereby significantly reducing the time required to weigh multiple containers and eliminating inaccurate measurements to ensure compliance with industry-relevant standards.

[0017] The second objective of this invention is to manufacture a universal weighing unit capable of implementing the aforementioned methods through a simple and reasonable constructive solution.

[0018] The first objective is achieved by a method according to claim 1 of the invention to weigh a plurality of containers arranged in a support structure.

[0019] The second objective, according to claim 10, is to arrange multiple containers in a support structure using a weighing unit.

[0020] Further features and benefits will be presented in the following description, which is not limited to embodiments of the invention, and the examples referred to are not limited to the accompanying drawings. Attached Figure Description

[0021] Figures 1 to 3 The diagram illustrates the weighing steps according to the first embodiment of the present invention, and the weighing unit implemented according to the first embodiment of the present invention.

[0022] Figures 4 to 6 The diagram illustrates the weighing steps according to the second embodiment of the present invention, and the weighing unit implemented according to the second embodiment of the present invention.

[0023] The present invention can be more fully understood through the following detailed description of the embodiments in conjunction with the accompanying drawings, wherein: Detailed Implementation

[0024] With particular reference to several accompanying figures, 1 broadly refers to a weighing unit in which multiple containers A are housed in a support structure 7 (usually nest-like).

[0025] The unit 1 is specifically intended for weighing multiple containers A, preferably sample bottles, vials, and syringes.

[0026] It must be pointed out that the above-mentioned container types are frequently used in the pharmaceutical industry, which explains why weighing needs to be extremely precise.

[0027] In fact, the unit 1 according to the invention is often associated with a filling machine, which is responsible for filling at least a predetermined amount of articles into container A and weighing the total weight before the container is weighed.

[0028] Before filling, the container may be weighed to obtain its weight data.

[0029] Multiple containers A are housed in a generally stable position within the nest 7.

[0030] Specifically, each container A includes a support C shaped to abut against the nest body 7 so that the container A remains suspended on the nest body.

[0031] In particular, the support portion C has an annular shape and typically serves as an annular shoulder at the top of the container A.

[0032] In several of the accompanying drawings, the nest 7 includes a plane having a plurality of openings 8 configured to accommodate the container A.

[0033] When the container A is placed in the opening 8, the support portion C of the container will abut against the plane of the nest 7.

[0034] The opening is defined as a cylindrical seat (circular hole) into which the container A is inserted.

[0035] In actual operation, the container A remains suspended on the nest body 7 and is supported on the annular shoulder C, with the container A protruding from the opening 8 of the nest body 7.

[0036] Furthermore, when the container A is placed in the opening 8, each opening 8 has a central axis that coincides with a longitudinal axis of the container A.

[0037] According to the present invention, the unit 1 includes a weighing station, the weighing station including a weighing element 4, which is typically a weighing sensor, and a plurality of containers A are weighed on the weighing element 4.

[0038] During weighing, the weighing sensor 4 remains in a stationary position to ensure accurate and rapid weighing.

[0039] The container A is weighed by moving the nest 7 toward the weighing sensor 4, thus bringing the container A to be weighed into contact with the weighing sensor 4, and lifting the container A from the nest 7 so that the annular shoulder C of the container A separates from the nest 7.

[0040] In this invention, the separation of the annular shoulder C of the container A can only be achieved by moving the nest 7 relative to the stationary weighing sensor 4.

[0041] The weighing of multiple containers A can be achieved by a manipulator, preferably an anthropomorphic robotic arm X, which is adapted to set the movement of the nest 7 so that one of the containers A is brought into contact with the weighing sensor 4 until the annular shoulder C separates from the nest 7.

[0042] Therefore, it is not necessary to remove the container from the nest and place it on the weighing element to weigh the container.

[0043] In fact, the weighing process according to the present invention is simply carried out by moving the nest 7, with the container A to be weighed supported in the nest 7, without having to remove the container for weighing.

[0044] As described above, the weighing element 4 according to the present invention is held in a stationary position.

[0045] In other words, when the weighing sensor 4 remains firmly fixed, the nest containing the container will be brought to the weighing sensor 4.

[0046] Because the weighing element is not subjected to pressure caused by the movement of the container, an extremely accurate weighing is obtained.

[0047] During the weighing step, container A can be placed in the opening 8 of the nest 7 for weighing; however, as shown in the attached... Figure 3 As shown, when the container A leans against the weighing sensor 4, the container A may completely leave the opening 8. Ultimately, although the container A is not retained in the opening, neither robotic arm will perform a retrieval operation under any circumstances.

[0048] In order to achieve an ideal weighing process, the container A must remain firmly on the weighing sensor 4, which is achieved by connecting a suitable support element 2 to the weighing sensor 4 and having the container A abut against the support element 2.

[0049] Tangible elements can be used as support elements 2 to removably retain the container A, for example through a groove or a small cup-shaped object 5 (attached). Figures 1 to 3 The configuration is used to accommodate the bottom B of the container A.

[0050] Alternatively, the support element 2 may be composed of a simple planar element 6 (see attached diagram). Figures 4 to 6 ).

[0051] The stability of the weighing sensor 4 will be increased by firmly fixing the weighing sensor 4 to a suitable support area 9.

[0052] Therefore, there is no need to provide a moving element for the weighing sensor to achieve accurate and fast weighing.

[0053] Preferably, during the weighing operation, the support area 9 is fixed to a frame 3 of a weighing operation chamber.

[0054] In terms of operation, the container will be weighed according to several steps described below.

[0055] The nest 7 includes the container A to be weighed. The container A may be empty or may contain an item. As mentioned above, sometimes it is necessary to weigh each container before or after filling.

[0056] Container A will be placed in the opening 8, protruding downward through the opening 8 and held suspended from the nest body 7 by the annular shoulder C. The annular shoulder C at the top of the container A includes a ring.

[0057] The weighing step is performed by moving the nest 7 toward the weighing sensor 4, thereby bringing the container 7 into contact with the weighing sensor 4, at which point the weighing sensor 4 remains in a stationary position, and the container A is lifted from the nest 7 so that the annular shoulder C separates from the nest 7. The separation of the annular shoulder C can only be achieved by moving the nest 7 relative to the stationary weighing sensor 4.

[0058] According to a preferred embodiment, the robotic arm X clamps the nest 7 containing at least one container (empty or containing an item) and brings the nest 7 close to the stationary weighing sensor 4. The nest 7 is manipulated to place the container A to be weighed into contact with the weighing sensor 4, and the nest 7 is continuously moved until the annular ring C separates from the nest 7, thereby measuring the weight of the container.

[0059] As mentioned above, when the annular ring C separates from the nest 7, preferably the bottom B of the container A can be placed in the support element 2 during weighing, so that the support element 2 can removably hold the container A in a stable position.

[0060] In order to move the nest 7 supporting the container A more quickly without interfering with the weighing, the nest 7 is secured by the robotic arm X using a clamping device of a type known in the art.

[0061] Preferably, when the robotic arm X brings the nest 7 containing the container A to the weighing sensor to weigh it, the preferred step is to move the container A to be weighed onto the weighing sensor 4 by vertically lowering the nest 7 until the bottom B of the container A abuts against the weighing sensor 2 or the support element 2 of the weighing sensor 4. The nest 7 is moved downward and frequently vertically by the robotic arm X. The possible result is that the annular ring C separates from the nest 7 and the weight of the container is weighed.

[0062] Even though the opening 8 of the nest 7 has a sidewall that allows the container A to come into contact with the sidewall during weight measurement, this contact does not cause any impact because it does not render the measurement unreliable.

[0063] In practice, if the container A touches the nest 7 (more precisely, the insertion opening 8) during weighing, the measurement is not affected.

[0064] To expedite the weighing process, the robotic arm X is controlled by a control unit configured to control the movement of the robotic arm X based on an input received by the weighing sensor 4.

[0065] Although there is detailed documentation on weighing one container (empty or containing an item) at a time, it is still possible to weigh multiple containers simultaneously.

[0066] Obviously, in order to achieve some or specific needs, an expert in the art may make some changes and modifications to the above invention, and all such changes are included within the scope of protection defined by the appended claims.

Claims

1. A method for filling and weighing a plurality of containers arranged in a support structure, the method comprising the steps of: A support structure (7) is provided to support a plurality of containers (A) in a generally stable position, wherein the support structure (7) has a plurality of openings (8) for inserting the containers (A), each container (A) protruding downward from a corresponding opening (8), and each container (A) being suspended from a support portion (C) abutting the support structure (7). The support structure (7) with the container (A) is moved to a weighing station, which includes a weighing element (4). At least one container (A) of the containers (A) suspended on the support structure (7) is filled with a predetermined dose of liquid substance; and The at least one container (A) filled with the liquid substance is weighed; Its features are: The weighing step is carried out by moving the support structure (7) toward the weighing element (4) by means of a manipulator (X), so that the at least one container (A) comes into contact with the weighing element (4) while the weighing element (4) is held in a stationary position, and the at least one container (A) is lifted by the weighing element (4) so ​​that the support (C) of the at least one container (A) is separated from the support structure (7), the separation of the support (C) is achieved only by moving the support structure (7) relative to the stationary weighing element (4) by means of the manipulator (X), and the at least one container (A) is weighed during or after the filling step.

2. The method as described in claim 1, characterized in that: The support structure (7) moves toward the weighing element in a vertical direction, causing the support portion (C) of the container (A) to separate from the support structure (7) in a substantially vertical direction.

3. The method as described in claim 2, characterized in that: The support (C) of the container (A) is separated from the support structure (7) by a distance less than a longitudinal extension of the container (A) such that the container (A) does not completely leave the corresponding opening (8) of the support structure (7).

4. The method according to any one of the preceding claims, characterized in that: A support element (2) is connected to the weighing element (4), and during the weighing step, a bottom (B) of the container (A) abuts against the support element (2).

5. The method as described in claim 4, characterized in that: During the weighing step, the at least one container (A) is removably held in a stable position by the support element (2).

6. The method as described in claim 1 or 2 above, characterized in that: The movement of the support structure (7) relative to the weighing element (4) by the manipulator (X) is controlled by a control unit based on the input received by the weighing element (4).

7. The method as described in claim 1 or 2 above, characterized in that: During the weighing process, the weighing element (4) is held in a stationary position by means of a support platform (9) fixed to a frame (3) in a chamber.

8. The method as described in claim 1 or 2 above, characterized in that: Before filling the at least one container (A) with the predetermined dose of the liquid substance, the method further includes weighing the at least one container (A) in an empty state.

9. The method as described in claim 1 or 2 above, characterized in that: The manipulator (X) is a robotic arm.

10. A filling and weighing unit (1) for a machine for filling and weighing multiple containers, the containers being arranged in a support structure (7), wherein the support structure (7) has a plurality of openings (8) for inserting the containers (A), each container (A) protruding downward from a corresponding opening (8), and each container (A) being suspended from a support portion (C) abutting against the support structure (7), characterized in that: The unit (1) includes: A weighing station includes a weighing element (4) configured to weigh at least one container (A) of the containers (A), the weighing element (4) being securely fixed to a support platform (9). A manipulator (X) is provided with a clamping device for clamping the support structure (7) and is configured to move the support structure (7) to the weighing station and cause the at least one container (A) to come into contact with the weighing element (4) until the support portion (C) of the at least one container (A) separates from the support structure (7).

11. The unit as claimed in claim 10, characterized in that: When weighing, the support platform (9) is fixed on a frame (3) of a chamber.

12. The unit as claimed in claim 10, characterized in that: The weighing element (4) includes a weighing sensor.

13. The unit as claimed in claim 12, characterized in that: The weighing sensor includes a support element (2) configured to stably hold the at least one container (A) against the support element (2) during the weighing process.

14. The unit as claimed in any one of claims 10 to 12, characterized in that: The manipulator (X) is connected to a control unit, which is configured to control the movement of the manipulator (X) based on input received by the weighing element (4).

15. The unit as claimed in any one of claims 10 to 12, characterized in that: Each of the openings (8) includes a circular hole, the central axis of which coincides with a longitudinal axis of the receiving container (A).

16. The unit as claimed in any one of claims 10 to 12, characterized in that: The manipulator (X) is a robotic arm.

Images