DEVICE AND METHOD FOR FILLING NESTED CONTAINERS

Description

[0001] The present invention relates to a device for filling nested containers, wherein the containers are arranged in at least one row in a nest and can be conveyed by means of a conveyor device, with a filling station for the simultaneous filling of the containers of a row, with at least one weighing station for weighing a row of the containers, with a first gripping device for the simultaneous removal of a row of containers to be filled and for transferring these containers to a first weighing station of the at least one weighing station and for transferring the weighed containers from the at least one weighing station back into the nest from which the first gripping device has removed the row of containers to be filled, or back into a subsequent nest.

[0002] In this case, containers are primarily understood to mean pharmaceutical or cosmetic objects such as syringes, vials, cylinder ampoules, etc.

[0003] Preferably, the conveyor device defines a transport direction, wherein in the present case "in front of" or "behind" or "after" are to be understood in relation to this transport direction.

[0004] Such a filling device is preferably arranged within a production line, wherein in one or more preceding steps, the containers are prepared for filling, for example, unpacked and arranged in nests and / or sterilized and / or heated or cooled so as not to impair the product to be filled into the containers. A device for closing the filled containers is preferably arranged downstream of the filling device in the transport direction. The containers can then be packaged individually or in groups, preferably in a sterile manner, for further transport to an end user.

[0005] Such a device is known, for example, from document DE 103 45 338 B4. A transport system transports the nested containers in cycles. A gripping device removes a row of containers to be filled from a nest and transfers them to a weighing station. After weighing, the gripping device transfers the weighed containers to a filling station, where this row is then filled. After filling, the gripping device transfers this row a second time to the same weighing station. The row of filled containers is weighed again, thereby determining its net content. The filled row is returned to the nest and omitted when the nest is filled to avoid double filling.

[0006] Knowing the exact fill level of the containers is particularly important for pharmaceutical products, as an incorrectly filled container can result in either an under- or overdose of the product contained within the container. This can lead to significant health risks and, especially in the case of underdosing, significantly reduce the product's effectiveness. High accuracy of the container fill level is also important for cosmetic products in order to sell the correct amount of expensive cosmetic products.

[0007] It is therefore of particular interest to check the fill level and the correct operation of a filling device and to readjust it if necessary.

[0008] It is known to weigh some of the containers before and after the filling process and to use this to determine the net contents of the individual containers.

[0009] It is particularly preferred if this control can be performed during the ongoing filling process. In the current state of the art, this measurement often leads to delays in the filling process, as determining the net contents of the containers takes a certain amount of time.

[0010] According to the teaching of the above publication, the filling process must be interrupted at least partially in order to remove the row of containers, weigh them, feed them to the filling station and fill them, weigh them again and place them back into the nest.

[0011] Furthermore, according to the above-mentioned teaching, it is possible to weigh only a certain part of the nested containers.

[0012] Furthermore, the filling process for the containers being tested differs from that for the other containers. Therefore, a true verification of the filling process as performed during normal operation is not possible. Incorrect alignment of the filling station with a row of a nest to be filled could, in the worst case, result in the product being poured to the wrong side. Such an error cannot be detected using the method described above.

[0013] DE 10 2004 035 061 A1 discloses a device for the metered filling of vessels located in groups in receptacles of a carrier plate, which device has a weighing device for checking the metering results of a metering device, wherein the weighing device has a lifting mechanism for lifting at least one of the vessels from a seat of the carrier plate, wherein the weighing device has a lifting mechanism so that the individual vessels only have to be lifted from the nest in order to be weighed.

[0014] The same weighing device is used before and after filling each container, so a nest must be within reach of the weighing device before and after filling. Furthermore, the transport device must be stopped while weighing the containers, and the weighing device must be temporarily stationary. Checkweighing therefore always results in a delay in the filling station.

[0015] Document EP 2 570 350 A1 discloses a method for filling and closing pharmaceutical objects arranged in parallel rows in nests. The objects are removed from the nests at an entrance of a conveyor system in a removal station and placed into the conveyor system. The conveyor system then successively feeds the objects along a straight section of the transport path to a first weighing station, a filling station, and a second weighing station.

[0016] Here, the objects are not filled in the nests, but must also be removed for filling, which leads to longer processing times.

[0017] Document DE 10 2012 208 060 A1 proposes a filling machine for filling containers with a liquid. The filling machine comprises a handling device, a weighing device, a first filling device, and a second filling device, wherein the first filling device is configured to fill containers arranged on the weighing device. Furthermore, the second filling device is configured to fill containers arranged in a nest. The included handling device is configured to bring individual containers and / or rows of containers from the nest to the weighing device. In addition, the handling device can remove the containers from the weighing device and return them to the nest.

[0018] Here, the containers are filled during weighing, which results in complicated control of the filling system and long processing times.

[0019] From DE 10 2014 214 693 A1 a device for weighing a container is known, comprising at least one weighing device for weighing at least one container, at least one container receptacle for transporting the container relative to the weighing device, wherein at least one drive surface and at least one mover which can be coupled to the drive surface are provided, wherein the mover is arranged on the drive surface so as to be displaceable and / or rotatable in at least two degrees of freedom and the container receptacle is arranged on the mover.

[0020] A mover is provided to transport the containers, which makes the filling system complicated to set up and control, as well as cost-intensive.

[0021] The document DE 10 2009 027 452 A1 shows a device for filling and closing pharmaceutical containers, wherein the containers are received in a particularly trough-shaped receiving container in which a carrier element that can be removed from the receiving container is inserted, in which the containers are arranged in several rows next to and behind one another in receptacles of the carrier element, with a first handling unit for removing the carrier element from the receiving container, a filling and closing device for the containers and a second handling unit for reinserting the carrier element into the receiving container conveyed along with the carrier element on a conveyor device.According to the invention, it is provided that the containers are designed as injection moldings or as containers to be provided with crimp caps, such as vials or cylindrical ampoules, and that a crimping device is assigned to the second handling device, which is controlled by the second handling device when handling containers to be provided with crimp caps, so that the second handling device first feeds the containers to the crimping device and then reinserts the containers previously closed by means of the crimping device into the carrier element.

[0022] The document EP 2 441 711 A1 discloses a method and a device carrying out the method for transferring a plurality of tubular containers made of fragile material, which are suitable for holding doses of medical substances, for example barrels for syringes or vials, from containers in which the containers can be accommodated separately from one another, to a packaging machine for processing the containers, wherein each container receives a plurality of containers and is portable by a conveyor line to the packaging machine, the method being characterized in that it comprises the following steps: a. collecting a plurality of containers from a container, wherein the containers are kept separate from one another; b. arranging the collected containers at an inlet of the packaging machine in a predetermined formation in which they are kept separate from one another, and c.Introducing the containers collected and sorted in the previous steps into the packaging machine, keeping them separate from each other so that the packaging machine can receive them as soon as they enter it for processing.

[0023] It is therefore an object of the present invention to provide an improved device and an improved method for filling nested containers, which in particular enable in-process control of the fill level of the containers.

[0024] The problem is solved by the subject matter of the independent claims. Embodiments are the subject matter of the dependent claims.

[0025] Therefore, a device is provided for filling nested containers, wherein the containers are arranged in at least one row in a nest and with a conveyor device for conveying the containers in a conveying direction, with a filling station for simultaneously filling the containers of a row, with a weighing station for weighing a row of containers, with a first gripping device for simultaneously removing a row of containers to be filled and for transferring these containers to the weighing station and for transferring the weighed containers from the weighing station back to the nest from which the first gripping device has removed the row of containers to be filled, and wherein a second gripping device for simultaneously removing the row of filled and weighed containers and for transferring these containers to the weighing station and for transferring the row of filled and twice weighed containers from the weighing station back to the nest,from which the second gripping device has removed the row of filled containers, and wherein the device further comprises a control unit which controls the first gripping device, the second gripping device and the weighing station, and is designed to weigh at least 6% of the containers of a nest, wherein the first gripping device is arranged in front of the filling station in the conveying direction and the second gripping device is arranged behind the filling station in the conveying direction, wherein the filling station has a plurality of filling points perpendicular to the conveying direction of the nested containers, wherein the number of containers in a row corresponds to the number of filling points of the filling station, wherein the weighing station has a plurality of weighing cells, wherein the number of weighing cells corresponds at least to the number of containers to be weighed, wherein the containers can be weighed individually at the same time.

[0026] A method for filling nested containers comprises the following steps: conveying containers arranged in a nest in a conveying direction by means of a conveying device, removing a row of containers to be filled from a nest by means of a first gripping device, transferring these containers to a first weighing station of at least one weighing station by means of the first gripping device, wherein the weighing station has a plurality of weighing cells, wherein the number of weighing cells preferably corresponds at least to the number of containers to be weighed, wherein the containers can be weighed individually at the same time, weighing the individual containers in an empty state by means of the weighing station, returning the empty containers to the nest from which the first gripping device has removed the row of containers to be filled, by means of the first gripping device, simultaneously filling the weighed containers by means of a filling station,Removing a row of filled containers from the nest by means of a second gripping device, transferring these containers to the weighing station by means of the second gripping device, re-weighing the individual weighed and filled containers by means of the weighing station, and returning the filled containers after re-weighing into the nest from which the second gripping device has removed the row of containers to be filled, by means of the second gripping device, and wherein at least 6% of all containers in a nest are weighed before and after filling, wherein the first gripping device is arranged upstream of the filling station in the conveying direction and the second gripping device is arranged downstream of the filling station in the conveying direction, wherein the filling station has a plurality of filling points perpendicular to the conveying direction of the nested containers, wherein the number of containers in a row corresponds to the number of filling points of the filling station.

[0027] The device and method make it possible to perform in-process control without interfering with ongoing operations. Preferably, the filling system continues to run at normal speed. Furthermore, it is possible to monitor the filling process exactly as it is performed during ongoing operations. It is possible to process all containers using the same time sequence, regardless of their arrangement, in particular regardless of the number of rows of containers in a nest or the number of containers in a row. Furthermore, by testing an entire row, a complete filling cycle can be tested. This also eliminates any interference between the filling stations.

[0028] According to the present invention, at least 6% and in particular at least 10% of the containers can be checked, but it is also conceivable to check more or all containers.

[0029] Furthermore, by testing an entire row, a complete filling cycle can be verified. This also eliminates any interference between the filling stations.

[0030] The weighing station has a plurality of load cells, the number of which preferably corresponds at least to the number of containers to be weighed, and the containers can be weighed individually at the same time. This enables rapid weighing of all containers to be weighed, with the speed at which the system operates preferably essentially depending on the speed of the filling station and not being affected by the weighing.

[0031] The first gripping device is designed to place containers back into a nest before or at the filling station. This ensures that the filling process is not disrupted, allowing the filling device to continue running at normal speed regardless of the measurement. Because no interruption for measurement is necessary, the filling device can generally run faster. This enables consistent processing, allowing greater accuracy to be achieved. In particular, the system's processing times remain essentially the same, allowing further process steps such as gassing the containers to be carried out without being affected by the weighing process.

[0032] The problem is thus completely solved.

[0033] The first and second gripping devices are preferably constructed essentially identically.

[0034] The first and / or second gripping device can be designed according to the containers to be weighed. It is conceivable, for example, for the first and / or second gripping device to have a lifting device that lifts containers that protrude from the bottom of the nests, so that the gripping device can grasp the raised containers, preferably by means of gripping tongs.

[0035] In the case of correspondingly shaped containers, in particular containers with an upper end located radially further outwards or cylindrically shaped containers with a sufficiently large distance between the individual containers, it is possible to dispense with prior lifting of the containers and to grip the containers directly.

[0036] Furthermore, it is conceivable to provide a gripping device with suction cups, wherein the suction cups can be arranged on a smooth surface of the containers in order to temporarily fix the containers to the gripping device by means of negative pressure.

[0037] In this context, a transport device refers to any type of device suitable for transporting nested containers. It is conceivable that nests of containers rest on two parallel conveyor rails and are conveyed in this way. It is also conceivable to insert the nests into a designated rail or to accommodate the nests in a transport carriage. Furthermore, it is possible to transport the nests of containers using a conveyor belt or clamped between at least two conveyor belts.

[0038] In this context, a "nest" refers to any type of device or arrangement suitable for combining multiple containers. The containers are preferably arranged in several rows. A row can consist of at least two containers.

[0039] A weighing station according to the present invention can be any type of weighing device that allows several containers to be weighed individually and essentially in parallel.

[0040] According to one embodiment, the filling device comprises a control unit configured to control the first and second gripping devices and the at least one weighing station and to weigh at least 6% of the containers in a nest. This allows a high quality standard to be achieved. In particular, at least 10% or exactly 10% of the containers in a nest can be weighed. An exemplary list of various nest configurations can be found in the following table. Containers per nest Number per row Share of a row in the total number of clusters in a nest [%] 160 16 10 10 6,25 100 10 10 64 8 12,5 48 8 16,67 6 12,5 ... ... ...

[0041] Preferably, a series of packages comprises exactly 6.25%, 10%, 12.5%, or 16.67% of the packages in a nest. Consequently, exactly 6.25%, 10%, 12.5%, or 16.67% of the packages in a nest can be grasped and weighed by the gripping devices.

[0042] More preferably, a row has exactly 10 containers, with the first gripping device and / or the second gripping device being designed to grip 10 containers simultaneously. This allows the speed of the filling system to be further improved.

[0043] In such systems, deviations in the filling behavior from filling process to filling process are usually very small or non-existent, so that by checking at least 6% and in particular at least 10% of the containers, the correct operation of the filling device can be checked or verified with a high degree of reliability.

[0044] In one embodiment of the filling device, it can be provided that the filling station has a plurality of filling points perpendicular to a conveying direction of the nested containers, wherein the number of containers in a row corresponds to the number of filling points of the filling station.

[0045] According to a further preferred embodiment, the first gripping device and / or the second gripping device has at least a two-axis gripper. This allows the filling device to be implemented in a structurally simple and cost-effective manner. Furthermore, simple control of the first gripping device and / or the second gripping device and short transport times for the containers to be weighed are possible.

[0046] According to a further preferred embodiment, the first gripping device and / or the second gripping device are designed such that they can remove packages, preferably a whole row of packages, from several, in particular all, positions of the nest and return them to this or another position of this or another nest. This enables a very dynamic system design. In particular, the system can continue to move during weighing, since the row can also be reset independently of the position of the nest.

[0047] It is further preferred if the first gripping device and / or the second gripping device comprises a gripping tong with two clamping bars for clamping a row of containers. This allows for the removal of a row of containers in a structurally simple manner.

[0048] According to a preferred embodiment of the method, the net content of each individual container is determined from the result of the first weighing and the result of the second weighing, with the filling station being individually adjusted taking into account the determined net content of each container. This enables automated readjustment of the fill quantity, allowing adjustment and self-correction of the filling device without stopping the filling process.

[0049] This is particularly advantageous for highly critical products that, for example, must be filled under refrigeration or in a protective atmosphere. There's no need for time-consuming manual adjustment of the filling system; the system is essentially calibrated after the initial training process, i.e., the initial net content determinations.

[0050] The terms filling the containers and closing the containers are to be understood in this case in such a way that filling or closing, including gassing of the containers, can also be included.

[0051] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0052] Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. They show: Figure 1a schematic representation of an embodiment of a filling station according to the invention in a production line, Figure 2aa schematic plan view of an embodiment of a filling station according to the invention, Figure 2ba schematic side view of the filling device according to the invention of the Fig. 2a , Figure 3a a schematic plan view of a gripping device, Figure 3b a schematic side view of the gripping device of the Fig. 3a , Figure 4 shows a schematic plan view of a filling device in a filling system, Figure 5 shows an embodiment of a method according to the invention, and Figures 6a to 6d show a simplified representation of various removal, weighing and resetting steps.

[0053] The Fig. 1 shows schematically a filling device 10 in a production line for filling nests 12 of containers 14, which for reasons of clarity Fig. 1are not shown in more detail. The nests 12 are transported in the direction of the arrow by a transport device 16, which is symbolized in a simplified manner by arrows. The filling device 10 has, schematically shown, a first gripping device 18 and a second gripping device 20, each having a pivot arm 22 and a gripping tongs 24. Furthermore, the filling device 10 has a filling station 26 and at least one weighing station 28 with weighing cells 30 (not shown in more detail). Downstream of the filling device 10 in the transport direction there is a closing station 32 for closing the containers 14, which is preferably followed by a packaging station 34, in which the containers 14 can be removed from the nests 12 and packed in appropriate containers, such as cartons, for further transport. It is understood that the containers 14 can also remain in the nests 12 and can be packed together with the nests 12.In the transport direction upstream of the filling device 10, an upstream device 38 can be provided in which the containers 14 are prepared for filling, that is to say, for example, unpacked and arranged in the nests 12 and / or sterilized and / or heated or cooled in order not to impair the product to be filled into the containers 14.

[0054] The Fig. 2a shows an embodiment of a filling device 10. Nests 12 of containers 14 are fed to the filling device 10 by means of a conveyor or transport device 16. The filling device 10 further comprises a first gripping device 18 and a second gripping device 20. The first gripping device 18 and the second gripping device 20 are essentially structurally identical, so that only the first gripping device 18 will be described in more detail below. The movement radii of the gripping devices are schematically represented as circles.

[0055] The first gripping device 18 has a pivoting arm 22, on which a pivotable gripping tong 24 is arranged. The first gripping device 18 is arranged upstream of a filling station 26 in the conveying direction. A weighing station 28 is arranged between the first gripping device 18 and the second gripping device 20 in the conveying direction. The weighing station 28 has individual weighing cells 30. The weighing cells 30 can be designed, for example, as weighing cups.

[0056] The weighing station 28 is therefore located essentially at the same height as the filling station 26 with respect to the conveying direction. A closing station 32 is preferably arranged behind the second gripping device 20 in the conveying direction, which, for reasons of clarity, is only shown schematically together with further downstream devices 34.

[0057] The first gripping device 18 serves to remove a row of containers 14 from a nest 12 and transfer them to the weighing station 28. Each load cell 30 of the weighing station 28 is preferably assigned a container 14, so that the containers 14 are weighed essentially in parallel and individually. After weighing, the containers 14 are picked up again by the first gripping device 18 and returned to the nest 12. The empty weight of the individual containers 14 can be recorded.

[0058] The nest 12 is then conveyed by the conveyor or transport device 16 in a conveying direction to the filling station 26, wherein the filling station 26 can fill the containers 14 of a row of containers 14 in parallel and individually. A row of containers extends perpendicular to the conveying direction. The containers are arranged next to one another in the nest, perpendicular to the conveying direction.

[0059] The containers 14 are filled at filling points of the filling station 26. The filling points can also be arranged next to each other perpendicular to the conveying direction. Filling is carried out, for example, using so-called filling needles and is generally known in the art, so further details regarding the exact filling process will be omitted.

[0060] After filling, the row of pre-weighed containers 14 can be removed from the second gripping device 20 and returned to the weighing station 28. The individual filled containers 14 can then be weighed again as described above. The net contents of each individual container 14 can be determined and verified from the previously determined empty weight and the total weight. The net contents can be taken into account when controlling the filling station 26.

[0061] The filling device 10 described above is preferably only a partial section of a fully automated system, wherein devices required to provide the containers 14 in the nests 12 are connected upstream of the filling device 10 and are schematically represented in the present case by the symbol with the reference number 38.

[0062] In Fig. 2b the filling device 10 of the Fig. 2a shown in a highly simplified representation along section A. The conveying direction runs from left to right. The rows of containers 14 are shown in a simplified U-shape. Since the first gripping device 18 is identical in construction to the second gripping device 20, the second gripping device 20 is only indicated schematically. Also shown are a total of three nests 12, each with four rows of containers 14, with one row of containers 14 in the middle nest 12' being concealed by the filling station 26.

[0063] In Fig. 3aa gripping device 18, 20 is shown. The gripping device 18, 20 has a pivot arm 22 which is pivotable about a first end 22a, as in Fig. 3a indicated by an arrow. A gripping tong 24 is arranged at a second end 22b of the pivoting arm 22, opposite the first. This gripping tong is arranged at the second end 22b of the pivoting arm 22 and is pivotable, as indicated by an arrow. The gripping tong has a first clamping bar 24a and a second clamping bar 24b, which are movable relative to one another such that they can clamp or release a row of containers 14.

[0064] In Fig. 3b is a section of the gripping device of the Fig. 3ashown schematically along section B. The gripping tongs 24 are designed such that they can be moved upwards and downwards, i.e. vertically, with respect to the transport direction in order to remove the containers 14 clamped in the first clamping bar 24a and second clamping bar 24b from a nest 12.

[0065] In Fig. 4 is shown in plan view a filling device 10 with an adjoining closing station 32 with a closing agent station 36. The filling device 10 in the Fig. 4 essentially corresponds to the filling device 10 of the Fig. 2a and 2b , so that identical components are marked with the same reference numbers. The differences will be discussed in more detail below.

[0066] The filling device 10 has a first weighing station 28a and a second weighing station 28b. The first gripping device 18 can remove a row of containers 14 from a nest 12 and transfer them to the first weighing station 28a. The first weighing station 28 can then determine the empty weight of the individual containers 14 in parallel, as described above. After weighing the containers 14, the first gripping device 18 can then remove the row of containers 14 from the first weighing station 28a and return them to the nest 12. The nest 12 is then transported further by means of the transport device 16 and fed to the filling station 26, in which the containers 14 of each row are filled individually, with each row being filled in parallel.After filling, the nest 12 is then moved further in the transport direction by means of the transport device 16, whereby the previously weighed row of containers 14 can be removed by the second gripping device 20 and fed to the second weighing station 28b. The second weighing station 28b weighs the containers 14 individually and in parallel, and the net content of the containers 14 can be determined from the empty weight, i.e., the result of the previous weighing, and the total weight, i.e., the result of the renewed weighing. This net content can then be taken into account in the control of the filling station 26. In particular, the filling station 26 can be adjusted or readjusted as a result.

[0067] After re-weighing, the second gripping device 20 can remove the row of packages 14 from the second weighing station 28b and return them to the nest 12. The nest 12 is then moved further in the transport direction by the transport device 16 and fed to a closing station 32, where the packages 14 are preferably closed individually and in parallel. Closing means are provided to the closing station 32 by a feed device 36.

[0068] The sealed, filled, and twice-weighed containers 14 can then be inspected, refrigerated, or quarantined, and then labeled and fed to an unspecified packaging device. The containers 14 are packaged in various sizes according to the end user and are then ready for further transport / shipment.

[0069] In Fig. 5the individual method steps of a method according to the invention are shown schematically. The method can preferably be carried out by one of the filling devices 10 described above. In a first step S1, the containers 14 to be filled are removed from a nest 12 by means of a first gripping device 18. In a second step S2, the individual containers 14 are weighed in the empty state and their empty weight is determined. In a subsequent step S3, the empty, weighed containers 14 are placed back into the nest 12 or into a nest 12'. In the subsequent step S4, the empty and weighed containers located in the nest 12 are filled by the filling station 26 and then, in a step S5, removed from the nest 12 by means of a second gripping device 20.In a subsequent step S6, the simply weighed filled containers 14 are weighed again and finally placed back into the nest 12 or into another nest 12' in a step S7.

[0070] In the method, the containers 14 are weighed individually, i.e. the weight of each individual container 14 is determined, wherein the containers 14 are also weighed essentially simultaneously.

[0071] With the method according to the invention, it is possible to weigh at least 6%, in particular exactly 10%, of all containers 14 before and after filling. It is of course also conceivable to weigh more containers 14, in particular all containers 14, before and after filling.

[0072] In particular, the net content of the individual containers 14 can be determined by weighing the containers 14 twice, wherein this net content can preferably be taken into account in the control of the filling station 26, so that an automatic adjustment of the filling station 26 can be carried out.

[0073] The filling station 26 preferably has individual filling devices or filling points, each of which can fill a container 14, so that the filling station 26 can preferably fill a number of containers 14 essentially simultaneously. It is also conceivable for the filling station 26 to have fewer or more filling devices.

[0074] In the Fig. 6a to 6dVarious embodiments of a method according to the invention are shown. For reasons of clarity, the transport device 16 and the filling station 26, among others, are not shown. In this example, the transport direction of the nests 12 of containers 14 runs from bottom to top.

[0075] In Fig. 6a A nest 12 with bundles 14 is shown schematically, wherein a row of bundles 14 can be removed by the first gripping device 18. This can, for example, be the first row of bundles 14, as in Fig. 6represented by a border. It is understood that any row can be removed by the gripping device 18. This row of packages 14 is, as described above, clamped by the tongs 24 of the first gripping device 18, lifted from the nest 12 and transferred to the at least one weighing station 28 and weighed. Subsequently, the weighed packages 14 can be removed by the first gripping device 18 from the at least one weighing station 28 and placed in the nest 12 or in a subsequent nest 12' as in Fig. 6b shown. The containers 14 are then filled in the filling station 26 (not shown in detail), as described above.

[0076] As in Fig. 6cAs shown, after filling the containers 14, the second gripping device 20 removes a row of already weighed and filled containers 14 from the nest 12 and transfers this row, as described above, to the at least one weighing station 28, wherein the containers 14 are weighed again and then transferred by the second gripping device 20 back into the nest 12 or into the following nest 12'.

[0077] If the first gripping device 18 has transferred the containers 14 into the nest 12' after weighing, the second gripping device 20 removes a row of already weighed and filled containers 14 from the nest 12' and transfers this row back into the nest 12' or into the following nest 12" after weighing. This is shown schematically in Fig. 6d shown.

[0078] Preferably, at least one row of containers 14 of a nest 12 is weighed before and after filling, wherein a row corresponds, for example, to at least 6% and in particular to at least 10% of the containers 14 of a nest 12.

[0079] It is understood that embodiments are also conceivable in which a row of containers 14 corresponds to less than 10% and in particular less than 6% of the containers 14 of a nest 12, wherein at least so many rows of containers 14 of a nest 12 are weighed before and after filling that in total at least the desired proportion of the containers 14 of a nest 12 are weighed before and after filling.

[0080] The number of containers 14 removed preferably corresponds to the number of filling stations in the filling station 26, so that a complete filling cycle can be checked. Consequently, the influence of filling stations on each other can be verified or ruled out.

[0081] Preferably, each row of the first nest 12 is weighed during system startup, allowing the system to be quickly trained. The system can be put into operation with minimal time and product loss.

[0082] Furthermore, when the system is running empty, each row of the last nest 12 and possibly the second-to-last nest 12 is preferably weighed, so that it can be verified up to which row, and in particular up to which container 14 in a row, the required fill level is reached. This minimizes product loss when the system is running empty.

Claims

1. Device (10) for filling nested containers (14), wherein the containers (14) are arranged in at least one row in a nest (12), having a conveying device (16) for conveying the containers (14) in a conveying direction, having a filling station (26) for simultaneously filling the containers (14) of a row, having a weighing station (28) for weighing a row of the containers (14), having a first gripping device (18) for simultaneously removing a row of containers (14) to be filled and for transferring these containers (14) to the weighing station (28) and for transferring the weighed containers (14) from the weighing station (28) back into the nest (12) from which the first gripping device (18) has removed the row of containers (14) to be filled, characterized by a second gripping device (20) for simultaneously removing the row of filled and weighed containers (14) and for transferring these containers (14) to the weighing station (28) and for transferring the row of filled and twice-weighed containers (14) from the weighing station (28) back into the nest (12, 12') from which the second gripping device (20) has removed the row of filled containers (14), wherein the device (10) furthermore comprises a control unit which controls the first gripping device (18), the second gripping device (20) and the weighing station (28) and is designed for the purpose of weighing at least 6% of the containers (14) of a nest (12, 12', 12"), wherein the first gripping device (18) is arranged upstream of the filling station (26) in the conveying direction and the second gripping device (20) is arranged downstream of the filling station in the conveying direction, wherein the filling station (26) comprises a plurality of fill points perpendicular to the conveying direction of the nested containers (14), wherein the number of containers (14) of a row corresponds to the number of fill points of the filling station (26), wherein the weighing station (28) comprises a plurality of weighing cells (30), wherein the number of weighing cells (30) corresponds at least to the number of containers (14) to be weighed, wherein the containers (14) are weighable individually at the same time.

2. Filling device (10) according to Claim 1, characterized by the control unit which is designed for the purpose of weighing precisely 10% of the containers (14) of a nest (12, 12', 12").

3. Filling device (10) according to Claim 1 or 2, characterized in that a row of containers (14) corresponds to at least 6%, in particular precisely 10%, of the containers (14) of a nest (12, 12', 12").

4. Filling device (10) according to one of Claims 1 to 3, characterized in that a row comprises precisely 10 containers (14), and in that the first gripping device (18) and / or the second gripping device (20) is designed for the purpose of gripping 10 containers (14) at the same time.

5. Filling device (10) according to one of Claims 1 to 4, characterized in that both the first gripping device and the second gripping device are designed in such a way that they are each able to grip the entire row of containers at the same time.

6. Filling device (10) according to one of Claims 1 to 5, characterized in that the row of the nested containers (14) extends perpendicularly to a conveying direction of the nest.

7. Filling device (10) according to one of Claims 1 to 6, characterized in that the first gripping device (18) is designed in such a way that it repositions the containers (14) upstream of or at the filling station (26).

8. Filling device (10) according to one of Claims 1 to 7, characterized in that the second gripping device (20) is designed in such a way that, before the second weighing, it removes the containers (14) downstream of the filling station (26) from a nest (12, 12') and repositions the containers (14) downstream of the filling station (26) in the nest (12, 12') or in a following nest (12").

9. Filling device (10) according to one of the preceding claims, characterized in that the first gripping device (18) and / or the second gripping device (20) comprises an at least biaxial gripper.

10. Filling device (10) according to one of the preceding claims, characterized in that the first gripping device (18) and / or the second gripping device (20) is designed in such a way that it can remove containers (14), preferably a row of containers (14), from multiple, in particular all, positions of a nest (12, 12', 12") and can reposition them in this position or in a different position of this nest (12, 12', 12") or of a subsequent nest (12, 12', 12").

11. Method for filling nested containers (14), having the following steps: - conveying containers (14), which are arranged in a nest, in a conveying direction by means of a conveying device (16), - removing (S1) a row of containers (14) to be filled from a nest (12) by means of a first gripping device (18), - transferring these containers (14) to a first weighing station (28a) of at least one weighing station (28) by means of the first gripping device (18), wherein the weighing station (28) comprises a plurality of weighing cells (30), wherein the containers (14) are weighable individually at the same time, - weighing (S2) the individual containers (14) in the empty state by means of the weighing station (28), - repositioning (S3) the empty containers (14) in the nest (12) from which the first gripping device (18) has removed the row of containers (14) to be filled, by means of the first gripping device (18), - simultaneously filling (S4) the weighed containers (14) by means of a filling station (26), - removing (S5) a row of filled containers (14) from the nest (12, 12') by means of a second gripping device (20), - transferring these containers (14) to the weighing station (28) by means of the second gripping device (20), - further weighing (S6) of the individual weighed and filled containers (14) by means of the weighing station (28), and - repositioning (S7) the filled containers (14), after the further weighing (S6), in the nest (12, 12') from which the second gripping device (20) has removed the row of containers (14) to be filled, by means of the second gripping device (20), and wherein at least 6% of all the containers (14) of a nest (12, 12', 12") are weighed before and after the filling process, wherein the first gripping device (18) is arranged upstream of the filling station (26) in the conveying direction and the second gripping device (20) is arranged downstream of the filling station in the conveying direction, wherein the filling station (26) comprises a plurality of fill points perpendicular to the conveying direction of the nested containers (14), wherein the number of containers (14) of a row corresponds to the number of fill points of the filling station (26).

12. Method according to Claim 12, wherein the containers (14) are weighed individually and at the same time.

13. Method according to Claim 12 or 13, wherein precisely 10% of all the containers (14) of a nest (12, 12', 12") are weighed before and after the filling process.

14. Method according to one of Claims 13 to 15, wherein the net content of each individual container (14) is determined from the result of the weighing (S2) and the result of the further weighing (S6).

15. Method according to Claim 14, wherein the filling amount of the filling station (26) is adapted taking into consideration the determined net content of each container (14).