Apparatus and method for inserting an article into a container

Abstract

An apparatus (1) for inserting an article (A) into a container (C), comprising: a conveying surface (2) comprising a plurality of electromagnetisable elements; a plurality of units (4) for conveying articles (A) comprising magnetic elements and movable on the conveying surface (2), each conveying unit (4) comprising a seat (5) configured to receive at least a portion of the container (C); a control unit (6) connected to the electromagnetisable elements of the conveying surface (2) to activate and deactivate them to generate a predetermined magnetic field that is variable over the conveying surface (2) and thus allow the conveying unit (4) to move over the conveying surface (2), the control unit (6) is configured to move the conveying unit (4) according to a sequence of movement that affects: a first zone (Z1) for loading the containers (C), wherein the conveying unit (4) receives the containers (C) in the respective seats (5); a second zone (Z2) for collecting articles (A) inside containers (C) positioned in respective seats (5) of the conveying unit (4); a third zone (Z3) for picking up a container (C) having a corresponding article (A) inside.

Description

Technical Field

[0001] The present invention relates to devices and methods for inserting articles into containers. Background Art

[0002] There are multiple prior art devices for inserting articles into containers in a substantially continuous manner.

[0003] One type of these devices includes multiple article supply lines that can be conveyed individually or in groups, and also includes a line for conveying containers. In these devices, there is an area where the article supply lines intersect the container line to allow the release of articles into the containers.

[0004] These devices are by their nature characterized by extremely limited operating flexibility, and on the contrary also have inherent operating rigidity and low responsiveness to changes in supply flow.

[0005] In fact, the presence of anomalies in the supply flow of articles or containers causes problems in the operation of these devices, which may result in the formation of containers that are not properly filled with articles or many containers being rejected.

[0006] There is a strong need in the art for devices for inserting articles into containers that are particularly flexible and not affected by any disturbances in the supply of articles or containers.

[0007] Therefore, it is necessary to meet the above requirements. Summary of the Invention

[0008] The object of the present invention is to meet the above needs by providing particularly flexible devices and methods for inserting articles into containers.

[0009] Another object of the present invention is to provide devices and methods for inserting articles into containers that are capable of quickly and effectively managing any anomalies in the supply of articles or containers. Brief Description of the Drawings

[0010] The advantages and features of the device and method for combining articles according to the present invention are more apparent in the following detailed description of non-limiting exemplary embodiments with reference to the accompanying drawings, in which:

[0011] Figure 1 and Figure 2 is a perspective view of a device for inserting articles into containers according to the present invention;

[0012] Figure 3 is Figure 1 and Figure 2 a perspective view of the device for inserting articles into containers, with some parts cut away;

[0013] Figure 4 showsFigure 3 Enlarged views of some details;

[0014] Figures 5 to 9 is part of a device for forming Figures 1 to 4 A perspective view of a unit that is part of the device;

[0015] Figure 10 and Figure 11 is Figures 5 to 9 A sectional view of the unit;

[0016] Figure 12 and Figure 13 is Figures 5 to 11 An exploded perspective view of the unit;

[0017] Figure 14 are plan views of the unit of Figures 10 to 13 in two different configurations, released and locked, respectively. Detailed implementation

[0018] The present invention defines a device 1 for inserting an article A into a container C.

[0019] The device 1 includes:

[0020] A conveying surface 2 including a plurality of magnetizable elements;

[0021] A plurality of units 4 for conveying the article A, which include magnetic elements and are capable of moving on the conveying surface 2, and each conveying unit 4 includes a seat 5 configured to receive the container C.

[0022] The conveying surface 2 and the units 4 for conveying the article A together define a planar motor 9.

[0023] The device 1 further includes a control unit 6, which is connected to the magnetizable elements of the conveying surface 2 to enable and disable them, so as to generate a variable predetermined magnetic field on the conveying surface 2 and thus allow the conveying units 4 to move above the conveying surface 2.

[0024] The control unit 6 is configured to move the conveying units 4 according to a movement sequence that affects:

[0025] A first area Z1 for loading the container C, in which the conveying units 4 receive the container C in the corresponding seats 5;

[0026] A second area Z2 for collecting the article A inside the container C positioned in the corresponding seats 5 of the conveying units 4;

[0027] A third area Z for picking up the container C having the corresponding article A therein.

[0028] According to another aspect, the control unit 6 is configured to move the conveying unit 4 according to a moving sequence that sequentially affects the first loading area Z1, the second collection area Z2, and the third picking area Z.

[0029] In short, preferably, each conveying unit 4 passes through the first area Z1 for loading the container C, then through the second area Z2 for collecting the articles A, and finally through the third picking area Z in sequence.

[0030] The following describes several aspects of the device 1, namely technical features.

[0031] It should be understood that each of these aspects can be combined with one or more of the remaining aspects.

[0032] According to one aspect, according to a preferred embodiment, the element that can be magnetized is defined by an electric coil (i.e., a cable wound according to a predetermined geometry), and is associated with a ferromagnetic material if necessary.

[0033] According to another aspect, the control unit 6 may include electronic hardware and / or software modules located in the same control device or having a distributed type.

[0034] The control unit 6 is connected to the magnetizable elements of the conveying surface 2 to enable and disable them, so as to generate a variable predetermined magnetic field on the conveying surface 2.

[0035] By disabling and enabling the magnetizable elements, the control unit 6 allows each unit 4 to move on the conveying surface 2.

[0036] It should also be noted that the control unit 6 is configured to enable the magnetizable elements by adjusting the intensity of the magnetic field on the conveying surface 2 generated by the enabled magnetizable elements.

[0037] More specifically, the magnetic field on the conveying surface 2 interacts with the magnetic elements of each unit 4, thereby allowing movement on the surface 2.

[0038] By means of the movement of the unit 4, the article A contained in the container C is transported, thereby avoiding sliding or rolling and maintaining the integrity of the article A and the container.

[0039] It should be noted that preferably, the conveying units 4 move on the conveying surface 2 without sliding, that is, they are kept lifted by the action of the magnetic field generated by the magnetizable elements.

[0040] According to one aspect, the magnetizable elements are configured to allow the generation of a variable magnetic field to move the unit 4 on the conveying surface 2 at least in the first direction x and / or the second direction y perpendicular to the first direction x.

[0041] The directions x and y lie on the conveying surface 2.

[0042] More specifically, the control unit 6 is configured to control the magnetizable elements so as to move the unit 4 along the directions x, y of the conveying surface 2.

[0043] Advantageously, by moving the unit 4 along the directions x and y, the path of the unit 4 can be determined.

[0044] According to one aspect, the magnetizable elements are configured to also allow the conveying unit 4 to move along a third direction z which is perpendicular to the directions x and y.

[0045] According to one aspect, the magnetizable elements are configured to allow the generation of a variable magnetic field for rotating the conveying unit 4 about a rotation axis K on the conveying surface 2.

[0046] Preferably, the axis K is perpendicular to the conveying surface 2.

[0047] The control unit 6 is configured to control the magnetizable elements so as to rotate the unit 4 about the rotation axis K.

[0048] According to another aspect, the device 1 includes a picking device 7 which operates at the third picking area Z of the container C to pick up the container C containing the article A, and the picking device 7 includes a plurality of picking elements 8 which operate on the container C.

[0049] According to another aspect inherent in the device 7, the picking device 7 is configured to move the picking elements 8 between a picking position and a release position, in the picking position the picking elements 8 act on the conveying unit 4 located at the third picking area Z of the container C to pick up the container C containing the article A, and in the release position the picking elements 8 release the picked-up container C.

[0050] Preferably, the picking elements 8 move as a whole.

[0051] Preferably, the picking elements 8 are provided with clamping means which are composed of, for example, suction cups and / or movable jaws.

[0052] Preferably, the picking elements 8 are positioned close to the conveying surface 2 at the picking position.

[0053] Preferably, the picking elements 8 are positioned close to the conveying surface 2 at the release position.

[0054] According to one aspect, the element 8 is carried by a movable arm 12.

[0055] According to another aspect, the device 1 includes a plurality of feeding parts L1, L2, L3, L4, L5, L6 for supplying the article A, and they are configured to supply the article A at a second area Z2 for collecting the article A.

[0056] According to another aspect, the feeding units (L1, L2, L3, L4, L5, L6) are configured to convey the article A at a second area Z2 for collecting the article A.

[0057] According to another aspect, the feeding units (L1, L2, L3, L4, L5, L6) are defined by a plurality of lines L1, L2, L3, L4, L5, L6 for conveying the article A.

[0058] Preferably, the lines L1, L2, L3, L4, L5, L6 for conveying the article A are configured to convey the article A at a second area Z2 for collecting the article A.

[0059] Preferably but not necessarily, the article A is a food product.

[0060] More generally, the article A can be any type of product.

[0061] It should be noted that preferably, the feeding units L1, L2, L3, L4, L5, L6 for supplying the article A are configured to convey the article A in groups.

[0062] Preferably but not necessarily, the lines L1, L2, L3, L4, L5, L6 for conveying the article A are horizontal lines.

[0063] It should be noted that alternatively, according to an embodiment not shown, the lines L1, L2, L3, L4, L5, L6 for conveying the article A are vertical lines.

[0064] Alternatively, according to an embodiment not shown, the feeding units L1, L2, L3, L4, L5, L6 can be defined by the outlet of a sealed container (e.g., a hopper).

[0065] According to one aspect, the conveying lines L1, L2, L3, L4, L5, L6 include corresponding conveyor belts.

[0066] Preferably, the feeding units L1, L2, L3, L4, L5, L6 are configured to supply the article A in groups, i.e., in rows.

[0067] Specifically referring to the conveying lines, the conveying lines L1, L2, L3, L4, L5, L6 preferably convey the article A in groups such that there is a predetermined distance (which can be constant or variable) between one group and the next. This distance separates one group of the article A from another group of the article A.

[0068] According to one aspect, article A can be supplied by feeders L1, L2, L3, L4, L5, L6 at regular frequencies (i.e., at a predetermined distance), or according to an irregular flow, that is, there is no predetermined distance between articles or between groups of article A.

[0069] According to another aspect, the control unit 6 is configured to move the conveying unit 4 such that at most a single unit 4 for conveying article A is positioned at each individual feeder L1, L2, L3, L4, L5, L6 in the second area Z2 for collecting article A and for a predetermined collection time.

[0070] In short, the control unit 6 is configured to position at most one unit 4 at each individual feeder L1, L2, L3, L4, L5, L6.

[0071] Preferably, the feeders L1, L2, L3, L4, L5, L6 are positioned above the conveying surface 2.

[0072] For this purpose, article A is released by gravity from the feeders L1, L2, L3, L4, L5, L6 onto the container C of the unit 4 waiting in the second area Z2 for collecting article A.

[0073] It should be noted that the second area Z2 for collecting article A thus includes a plurality of collection sub-areas, each of which can be engaged by a single unit 4.

[0074] It should be noted that preferably, according to the embodiment shown in the drawings, each collection sub-area is positioned below one of the feeders L1, L2, L3, L4, L5, L6.

[0075] According to another aspect, the control unit 6 is configured to move the conveying unit 4 according to a movement sequence that also affects the fourth waiting area Z4 and to position at least a part of the conveying unit 4 in the fourth waiting area Z4 after it has moved the conveying unit 4 in the second area Z2 for collecting article A.

[0076] In short, the fourth waiting area Z4 forms a kind of buffer that can compensate for any differences in the number of supply lines and pickup elements 8.

[0077] It should be noted that in the fourth area Z4, the control unit 6 has a matrix, that is, a set of units 4 preferably equal to or greater than the number of pickup elements 8.

[0078] In this way, the entire set of units 4 or a part waiting in the fourth area Z4 is sent to the pickup element 8.

[0079] Device 1 is extremely flexible: in fact, it can also operate in the case of a change in the supply speed of article A / container C.

[0080] According to another aspect, the control unit 6 is configured to move the conveying unit 4 according to a movement sequence that also affects the fifth waiting area Z5, and to position at least a part of the conveying unit 4 in the fifth waiting area Z5 after it has moved the conveying unit 4 in the third picking area Z of the container C.

[0081] It should be noted that, generally speaking, the number of units 4 is preferably greater than the number of feeding parts L1, L2, L3, L4, L5, L6.

[0082] More generally, the number of units 4 is preferably greater than the number of effective (that is, operating to supply article A) feeding parts L1, L2, L3, L4, L5, L6.

[0083] It should be noted that, according to another aspect, the device 1 includes a device 15 for loading the container C onto the seat 5 of the unit 4.

[0084] The loading device 15 includes a plurality of elements for gripping the container C, each element being configured to hold the container C so as to move them between a gripping position (where they pick up the container C from one or more inlets for supplying the container C, that is, from a storage unit where the container C accumulates in a waiting state) and a position for releasing the container C onto the seat 5 of the unit 4.

[0085] According to this embodiment, the loading device 15 releases the container C onto the seat 5 of a single unit 4 or onto the seats 5 of a pair of units 4 (in this case, the support seat of the container C is defined by a pair of units 4, that is, by a set of seats 5 of two units 4, and each seat 5 of a single unit 4 in the pair of units 4 accommodates a part of the container C).

[0086] Preferably but not necessarily, the container C is in the form of a bucket.

[0087] More generally, the container C can be of any type: for example, in the form of a cup, a glass, a box, a bag, a bottle.

[0088] Preferably, the container C opens upwards, that is, at the top.

[0089] It should be noted that, preferably, the seat 5 opens upwards, that is, at the top.

[0090] Referring to an embodiment not shown, it should be noted that the device 1 can be configured such that the seat 5 for accommodating the container C is defined by a pair of units 4 that are appropriately placed side by side.

[0091] According to this embodiment, the control unit 6 is configured to move the pairs of units 4 in a synchronized manner such that the movement sequence described above for a single unit having a seat for receiving the container C is performed for the pairs of units 4.

[0092] According to another aspect, the unit 4 includes a first base portion 11 in which a magnetic element and a removable seat 5 are positioned.

[0093] The removable seat 5 is defined by a support 10 which is configured to be coupled to the first base portion 11 by rotation.

[0094] Basically, the support 10 is positioned in a manner of a predetermined rotation, and a subsequent rotation (about an axis perpendicular to the plane defined by the first base portion 11) allows the support 10 to be locked to the first base portion 11 in a quick manner.

[0095] It should be noted that the support 10 has a plurality of coupling protrusions 12 (more precisely, in a non - limiting manner, four).

[0096] The coupling protrusions 12 allow a removable coupling with the first base portion 11.

[0097] Preferably, the first base portion 11 has a rectangular shape; more preferably, a square shape.

[0098] Preferably, the seat 5 is defined by a plurality of vertical elements 13.

[0099] Preferably, the bottom of the seat 5 is defined by the upper surface of the first base portion 11.

[0100] According to another aspect, the unit 4 includes a scraping element 16.

[0101] Preferably, the scraping element 16 is carried by the unit 4.

[0102] More precisely, the scraping element 16 is carried by the base portion 11.

[0103] It should be noted that the scraping element 16 is preferably removably coupled to the base portion 11.

[0104] The scraping element 16 is configured to contact the conveying surface 2 so as to advantageously prevent any small objects (such as debris, machining residues, dust, etc.) from being inserted into the bottom area between the base portion 11 and the conveying surface 2 and thus determining an incorrect or inaccurate movement of the unit 4.

[0105] Furthermore, advantageously, in use, the scraping element 16 is inclined with respect to the conveying surface 2. This allows for facilitating the discharge of any article A that has fallen onto the conveying surface 2 during the movement of the unit 4 (for example, considering an abnormal event with respect to the normal operation of the device 1).

[0106] Preferably, the scraping element 16 is made of rubber or plastic material.

[0107] According to another aspect, the device 11 includes at least one sensor 14 positioned close to a second area Z2 for collecting the article A inside the container C, which is configured to detect the transportation of the article A towards the second area Z2 for collecting the article A inside the container C or to detect the release of the article A inside the container C.

[0108] The control unit 6 is connected to the sensor 14 to receive information about the measurements made therefrom.

[0109] Advantageously, according to this aspect, the correct filling of the container C can be controlled in a very simple and effective manner.

[0110] In fact, the control unit 6 is configured to count the articles based on the information about the measurements made; thus, based on this count, the control unit 6 is able to know the articles loaded in each container C and label each container as "suitable" or "unsuitable" based on the number of articles A to be loaded.

[0111] The unsuitable containers will be rejected.

[0112] In this regard, the device 1 also includes a rejection device (not shown), which is configured to pick up the container C considered to be "unsuitable" from the unit 4 and operate on the conveying surface 2.

[0113] Therefore, the control unit 6 is configured to convey the articles considered to be "unsuitable" to the rejection device.

[0114] The advantages of the device 1 are described below.

[0115] Advantageously, the device 1 according to the present invention is extremely flexible: in fact, the number of effective articles A fed in and the number of containers C released or the number of picking elements 8 at each cycle can be changed in an extremely fast manner without any impact on the correct operation of the device 1.

[0116] It should be noted that any interference or failure in the supply of the article A, the container C or the failure of the picking element 8 will not adversely affect the normal operation of the device 1, and the device 1 can quickly adapt to the changing situation.

[0117] It should also be noted that, for example, if only one container C out of a group of n containers C is not supplied properly, the control unit 6 can send n - 1 units 4 with containers to the second area Z2 for collecting the article A and leave the unit without the container C in the first area Z1, waiting to receive the subsequent container C.

[0118] Furthermore, the number of items A fed, the number of containers C supplied per cycle, and the number of picking elements 8 can also be different because the device 1 can adjust the relevant operations based on the operating conditions / relevant configurations due to the multiple units 4.

[0119] According to another aspect, the device 1 includes means 17 for loading the containers C (as Figure 1 shown).

[0120] The means 17 is configured to release the container C onto the seat 5 of the unit waiting in the first area Z1.

[0121] According to another aspect, a method for inserting an item A into a container C in a planar motor 9 is also defined, the planar motor 9 being defined by a conveying surface 2 including a plurality of magnetizable elements and a plurality of units 4 for conveying the item A.

[0122] The unit 4 includes a magnetic element capable of moving on the conveying surface 2 and also includes a seat 5 configured to receive the container C.

[0123] According to the present invention, the method includes the following steps:

[0124] Actuating the conveying unit 4 to move the conveying unit 4 according to a movement sequence that sequentially includes the following:

[0125] Placing the conveying unit 4 at a first area Z1 for loading the container C, where the conveying unit 4 receives the container C in the corresponding seat 5;

[0126] Placing the conveying unit 4 at a second area Z2 for collecting the item A into the container C positioned in the corresponding carrying seat 5 of the conveying unit 4;

[0127] Placing the conveying unit 4 at a third area Z for picking up the container C having the corresponding item A therein.

[0128] It should be noted that the movement sequence is executed cyclically, that is, a single unit 4 repeats the above sequence several times.

[0129] According to another aspect, the method further includes the following step: actuating the conveying unit 4 to move the conveying unit 4 according to a movement sequence that includes positioning the conveying unit 4 at a fourth waiting area Z4 after the conveying unit 4 has engaged the second area Z2 for collecting the item A.

[0130] According to yet another aspect, the method further includes the following step: actuating the conveying unit 4 to move the conveying unit 4 according to a movement sequence that includes positioning the conveying unit 4 at a fifth waiting area Z5 after the conveying unit 4 has engaged the third area Z for picking up the container C.

[0131] According to one aspect, the step of positioning the conveying unit 4 at the second area Z2 includes the following steps: for each part of the second area Z2 for collecting the article A, positioning at most a single conveying unit 4 for a predetermined time to allow the article A to be loaded into the container C.

[0132] As an alternative to the above aspect, the step of positioning the conveying unit 4 at the second area Z2 includes the following steps: for each part of the second area Z2 for collecting the article A, positioning a pair of conveying units 4 for a predetermined time to allow the article A to be loaded into the container C, wherein the container is held in a cavity defined by a set of seats 5 of a pair of units 4.

[0133] According to another aspect, the method further includes the following steps: actuating the conveying unit 4 to move the conveying unit 4 according to a movement sequence including positioning the conveying unit 4 at a sixth waiting area Z6 after the conveying unit 4 has engaged the first area Z1 for picking up the container C and before engaging the second area Z2.

[0134] Preferably, the sixth waiting area Z6 is adjacent to the second area Z2.

[0135] In this way, advantageously, the sixth waiting area Z6 creates a buffer for the units 4 that have the container C and are waiting to be positioned into the second area Z2 to receive the article A.

[0136] According to another aspect, the method includes the following steps:

[0137] Receiving transfer information regarding the successful transfer of the container C onto a predetermined number n of units 4 waiting for the container C in the first area Z1;

[0138] Processing the transfer information to obtain an indication of the success or failure of the transfer of the container C onto the n units 4 waiting in the first area Z1;

[0139] If the indication determines that the transfer of the container C onto the units 4 waiting in the first area Z1 of the container fails, then keeping the units 4 waiting in the first area Z1 for the container C.

[0140] According to another aspect, there is also provided an information technology product configured to perform one or more steps of the above method when loaded onto the control unit 6 of the planar motor 9.

Claims

1. An apparatus (1) for inserting an article (A) into a container (C), comprising: a conveying surface (2) comprising a plurality of magnetizable elements; a plurality of conveying units (4) for conveying the article (A), comprising magnetic elements and being able to move on the conveying surface (2), each of the conveying units (4) comprising a seat (5) configured to receive at least a part of the container (C); a control unit (6) connected to the magnetizable elements of the conveying surface (2) to enable and disable the magnetizable elements to generate a variable predetermined magnetic field on the conveying surface (2) and thus allow the conveying units (4) to move above the conveying surface (2), the control unit (6) being configured to move the conveying units (4) according to a movement sequence affecting: a first loading area (Z1) for loading the container (C), in which the conveying units (4) receive the container (C) in the respective seats (5); a second collection area (Z2) for collecting the article (A) into the interior of the container (C) positioned in the respective seats (5) of the conveying units (4); a third picking area (Z3) for picking up the container (C) having the respective article (A) therein.

2. The apparatus (1) according to claim 1, wherein the control unit (6) is configured to move the conveying units (4) according to a movement sequence successively affecting the first loading area (Z1), the second collection area (Z2) and the third picking area (Z3).

3. The apparatus (1) according to claim 1 or 2, comprising picking means (7) operating at the third picking area (Z3) of the container (C) for picking up the container (C) containing the article (A) from the seat (5) of the conveying unit (4), the picking means (7) comprising a plurality of picking elements (8) operating on the container (C).

4. The apparatus (1) according to claim 3, wherein the picking means (7) is configured to move the picking elements (8) between a picking position and a release position, in the picking position the picking elements (8) acting on the conveying unit (4) positioned at the third picking area (Z3) of the container (C) to pick up the container (C) containing the article (A) from the seat (5) of the conveying unit (4), and in the release position the picking elements (8) releasing the picked-up container (C).

5. The apparatus (1) according to any one of the preceding claims, comprising a plurality of feeding parts (L1, L2, L3, L4, L5, L6) for supplying the article (A), the feeding parts being configured to supply the article (A) at the second collection area (Z2) for collecting the article (A).

6. The apparatus (1) according to claim 5, wherein the feeding sections (L1, L2, L3, L4, L5, L6) for supplying the articles (A) are configured to supply groups of the articles (A).

7. The apparatus (1) according to any one of the preceding claims, wherein the control unit (6) is configured to move the conveying unit (4) such that at most a single conveying unit (4) for conveying the articles (A) is positioned at each individual feeding section (L1, L2, L3, L4, L5, L6) in the second collection area (Z2) for collecting the articles (A) and for a predetermined collection time.

8. The apparatus (1) according to any one of the preceding claims, wherein the control unit (6) is configured to move the conveying unit (4) according to a movement sequence that also affects a fourth waiting area (Z4), and to position at least a part of the conveying unit (4) in the fourth waiting area (Z4) after it has moved the conveying unit (4) in the second collection area (Z2) for collecting the articles (A).

9. The apparatus (1) according to any one of the preceding claims, wherein the control unit (6) is configured to move the conveying unit (4) according to a movement sequence that also affects a fifth waiting area (Z5), and to position at least a part of the conveying unit (4) in the fifth waiting area (Z5) after it has moved the conveying unit (4) in the third pick-up area (Z3) of the container (C).

10. The apparatus (1) according to any one of the preceding claims, wherein the conveying unit (4) comprises a first base part (11) in which the magnetic element and the removable seat (5) are positioned, the removable seat (5) being defined by a support (10) configured to be removably coupled to the first base part (11).

11. The apparatus (1) according to any one of the preceding claims, wherein the control unit (6) is configured to move the conveying unit (4) according to a movement sequence that also affects a sixth waiting area (Z6), and to position at least a part of the conveying unit (4) in the sixth waiting area (Z6) after it has moved the conveying unit (4) in the first pick-up area (Z1) of the container (C) and before the conveying unit (4) engages the second collection area (Z2).

12. The apparatus (1) according to any one of the preceding claims, wherein the conveying unit (4) comprises a scraping element (16).

13. A method for inserting an article (A) into a container (C) within a planar motor (9), the planar motor (9) being defined by a conveying surface (2) including a plurality of elements capable of being electromagnetized and a plurality of conveying units (4) for conveying the article (A), the conveying units (4) including magnetic elements and being movable on the conveying surface (2), each of the conveying units (4) including a seat (5) configured to receive the container (C). The method includes the following steps: Actuate the conveying unit (4) to move the conveying unit (4) according to a movement sequence sequentially including the following: Place the conveying unit (4) at a first loading area (Z1) for loading the container (C), where the conveying unit (4) receives the container (C) within the corresponding seat (5). Place the conveying unit (4) at a second collection area (Z2) for collecting the article (A) into the container (C) positioned within the corresponding carrying seat (5) of the conveying unit (4). Place the conveying unit (4) at a third pickup area (Z3) for picking up the container (C) having the corresponding article (A) therein.

14. The method according to any one of the preceding claims, further comprising the steps of: Actuate the conveying unit (4) to move the conveying unit (4) according to a movement sequence including positioning the conveying unit (4) at a fourth waiting area (Z4) after the conveying unit (4) has engaged the second collection area (Z2) for collecting the article (A).

15. The method according to claim 13 or 14, further comprising the following steps: Actuate the conveying unit (4) to move the conveying unit (4) according to a movement sequence including positioning the conveying unit (4) at a fifth waiting area (Z5) after the conveying unit (4) has engaged the third pickup area (Z3) for picking up the container (C).

16. The method according to any one of claims 13 to 15, wherein the step of positioning the conveying unit (4) at the second collection area (Z2) comprises the following steps: For each part of the second collection area (Z2) for collecting the article (A), position at most a single conveying unit (4) for a predetermined time to allow the article (A) to be loaded into the container (C).

17. The method according to any one of claims 13 to 16, further comprising the following steps: Actuate the conveying unit (4) to move the conveying unit (4) according to a movement sequence including positioning the conveying unit (4) at a sixth waiting area (Z6) after the conveying unit (4) has engaged the second collection area (Z2) and before the conveying unit (4) engages the second collection area (Z2).

18. The method according to any one of claims 13 to 17, including the following steps: Receive transfer information regarding the successful transfer of the container (C) onto a predetermined number n of conveying units (4) waiting for the container (C) in the first area (Z1). Process the transfer information to obtain an indication of whether the transfer of the container (C) onto the n conveying units (4) waiting in the first area (Z1) is successful or failed. If the indication determines that the transfer of the container (C) onto the conveying units (4) waiting in the first area (Z1) of the container fails, keep the conveying unit (4) waiting in the first area (Z1).

19. A computer product, which is configured to implement the steps of the method according to any one of claims 13 to 18 when being loaded onto the control unit (6) of the planar motor (9).

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