Apparatus and method for filling a container with articles

Abstract

Provided herein is an apparatus for filling a container in an empty state with articles through a container opening while the container opening faces sideward. The apparatus includes a receiving station for receiving the container in the empty state at a first vertical level; a discharging station for discharging the container in the filled state at a second vertical level; and a filling station for receiving and filling articles into the container in the empty state in between the first and second vertical levels while the container opening faces sideward for receiving articles into the container. The apparatus also has a container transfer handler for receiving and taking the container at the receiving station, holding and transferring the container from the receiving station to the filling station and presenting the container opening facing sideward at the filling station, holding and transferring the container in the filled state from the filling station to the discharging station, and releasing the container in the filled state at the discharging station. Also provided herein is a related method for filling a container.

Description

Apparatus and Method for Filling a Container with ArticlesFIELD OF THE INVENTION

[0001] The present disclosure relates to an apparatus and corresponding method for filling a container in an empty state with articles through a container opening of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom opposite the container opening and has mutually adjacent container side panels adjacent the container bottom, and wherein the apparatus comprises a receiving station for receiving the container in the empty state; a discharging station for discharging the container in the filled state; and a filling station for receiving and filling articles into the container in the empty state while the container opening faces sideward for receiving articles into the container.BACKGROUND OF THE INVENTION

[0002] Various apparatus machines and methods are available for packing articles, such as bags containing a product, into containers, like packing cases and trays. Such machines and methods generally pack the articles randomly in the container or in a horizontal orientation in which a width direction of the articles is transverse to the container bottom and a longitudinal direction generally along the container bottom. Machines and methods are known for packing articles into a container in a vertical orientation in which a width direction of the articles is directed along the container bottom and a longitudinal direction generally transverse to the container bottom. Efficiency and packing speed of such machines and methods proves to be rather low. They are laid out for packing into a case or packing into a tray only, and handle a limited range of dimensions of the case or tray. Handling of another size or shape of case or tray requires modification(s) of the machine before the packing process can proceed.SUMMARY OF THE INVENTION

[0003] It is an objective of the present disclosure to provide an apparatus and corresponding method for efficiently packing articles, such as bags of a product, into a container, like a case or a tray.

[0004] It is another or alternative objective to provide an apparatus and corresponding method for packing articles, such as bags of a product, into a container, like a case or a tray, that are enabled to operate at a very high packing rate.

[0005] It is yet another or alternative objective to provide an apparatus and corresponding method that are easily adapted for packing articles, such as bags of a product, of various sizes and dimensions into a container, like a case or a tray, of various sizes and dimensions.

[0006] It is yet another or alternative objective to provide an apparatus and corresponding method for packing articles, such as bags of a product, in a vertical orientationinto a container, like a case or a tray, and in which a longitudinal direction of the articles is arranged transverse to a bottom of the container.

[0007] It is yet another or alternative objective to provide an apparatus and corresponding method for packing articles, such as bags of a product, in a vertical orientation into a container, like a case or a tray, which allow for automatic adjustment to various shapes and sizes of containers, and / or which do not require changing one or more machine parts to in order to switch between containers of different size and / or shape.

[0008] It is yet another or alternative objective to provide an apparatus and corresponding method for packing articles, such as bags of a product, into a container, that are enabled to readily switch between different types and sizes of container, such as between a case and a tray.

[0009] In a first aspect of the present disclosure, there is provided an apparatus for filling a container in an empty state with articles through a container opening of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom opposite the container opening and has mutually adjacent container side panels adjacent the container bottom and the container opening, and wherein the apparatus comprises- a receiving station for receiving the container in the empty state at a first vertical level;- a discharging station for discharging the container in the filled state at a second vertical level;- a filling station for receiving and filling articles into the container in the empty state in between the first and second vertical levels while the container opening faces sideward for receiving articles into the container; and- a container transfer handler for receiving and taking the container in the empty state at the receiving station, holding and transferring the container in the empty state in a vertical direction from the receiving station to the filling station and presenting the container opening facing sideward at the filling station for filling of the container with articles through the container opening, holding and transferring the container in the filled state in a vertical direction from the filling station to the discharging station, and releasing the container in the filled state at the discharging station, wherein the container transfer handler comprises-- a first transfer gripper for gripping the container at the receiving station, holding and transferring the container from the receiving station to a take-over area in between the first and second vertical levels, and for presenting the container opening facing sideward at the take-over area; and-- a second transfer gripper for gripping the container at the take-over area to take over the container from the first transfer gripper, holding and transferring the container from the take-over area to the discharging station, and releasing the container in the filled state at the discharging station,wherein the first and second transfer grippers are configured to move in an at least substantial vertical direction.

[0010] In an embodiment, the take-over area is associated with the filling station.

[0011] In an embodiment, the first vertical level is at a larger height than the second vertical level.

[0012] In an embodiment, the first transfer gripper is movable by a first linear movement mechanism, and the second transfer gripper is movable by a second linear movement mechanism. Stated differently, a first linear movement mechanism may be configured to move the first transfer gripper and / or a second linear movement mechanism may be configured to move the second transfer gripper.

[0013] In an embodiment, at least one of the first and second transfer grippers comprises a suction arrangement for gripping the container by suction action, optionally wherein the suction arrangement comprises one or more suction cups.

[0014] In an embodiment, the receiving station is configured for presenting the container in the empty state to the container transfer handler with the container opening facing sideward in a direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station when transferred by the container transfer handler from the receiving station to the filling station.

[0015] In non-limiting exemplary embodiments, the receiving station may comprise a first pivoting gripper configured for gripping the container and pivoting the container about a vertical axis to present the container opening in a direction associated with a sideward facing direction of the container opening when filling the container with articles through the container opening at the first station when transferred by the container transfer handler from the receiving station to the filling station. Further, it may be preferable that the first pivoting gripper is configured for gripping the container at the container bottom and / or at a container side panel. Configuring the first pivoting gripper to grip the container at different locations gives flexibility for the type and size of container being accommodated by the apparatus. This also facilitates simple and quick adaptation of the apparatus for different types and / or sizes of containers processed therein.

[0016] In non-limiting exemplary embodiments, the receiving station may comprise a second pivoting gripper for gripping the container and pivoting the container about a horizontal axis to present the container opening in a direction associated with a sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station when transferred by the container transfer handler from the receiving station to the filling station. It may be preferable, in non-limiting embodiments, that the second pivoting gripper is configured for gripping the container at the container bottom. Configuring the second pivoting gripper to grip the container in this manner may permit simple and quick processing regardless of the type of container(s).

[0017] In an embodiment, the first transfer gripper is configured to grip the container at an upper part of the container as seen when the container is presented at the receiving station to the container transfer handler.

[0018] In an embodiment, the first transfer gripper is configured to grip the container at an upward facing side panel of the container as seen when the container is presented at the receiving station to the container transfer handler.

[0019] In an embodiment, the first transfer gripper is configured to grip the container at a sideward facing side panel of the container, as seen when the container is presented by the receiving station to the container transfer handler .

[0020] In an embodiment, wherein the first transfer gripper is configured to grip the container adjacent the container bottom.

[0021] In an embodiment, the container transfer handler comprises a back plate associated with the filling station for supporting the container bottom while filling the container with articles at the filling station. In exemplary non-limiting embodiments, the back plate may be an adjustable back plate adapted to support the container bottom during filling of the container with articles at the filling station. By making the back plate adjustable, the apparatus may be readily adapted to accommodate different sized containers. This can be effectuated, for example, by simply adjusting the positioning of the back plate in the transverse direction to accommodate containers of different heights.

[0022] In an embodiment, the second transfer gripper is configured to grip the container at a lower part of the container as seen when the container is presenting the container opening facing sideward at the filling station for filling of the container with articles through the container opening.

[0023] In an embodiment, the second transfer gripper is configured to grip the container at a downward facing side panel of the container, as seen when the container is presenting the container opening facing sideward at the filling station for filling of the container with articles through the container opening.

[0024] In an embodiment, the second transfer gripper is configured to grip the container at a sideward facing side panel of the container as seen when the container is presenting the container opening facing sideward at the filling station for filling of the empty container with articles through the container opening.

[0025] In an embodiment, the second transfer gripper is configured and arranged to grip the container adjacent the container bottom.

[0026] In an embodiment, the second transfer gripper is configured for rotating the container from a position having the container opening facing sideward which allowed filling the container with articles at the filling station to a position of the container having the container opening facing upward and the container bottom facing downward for presenting the container in the filled state with the container bottom on a container support of the discharging station.

[0027] In an embodiment, the discharging station comprises a pivot plate arranged to at least partially cover the container opening, and configured for pivoting together with the container while the container is being rotated by the second transfer gripper to at least partially cover the container opening while being rotated to the position having the container opening facing upward.

[0028] In an embodiment, the receiving station is configured for presenting the container in the empty state to the container transfer handler with the container opening facing sideward in a direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station when transferred by the container transfer handler from the receiving station to the filling station, and wherein the receiving station is configured for receiving the container in the empty state with the container bottom facing sideward and with a container side panel facing sideward in a direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station, and the receiving station comprises a first pivoting gripper for gripping the container and pivoting the container about a vertical axis to present the container opening in the direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station when transferred by the container transfer handler from the receiving station to the filling station, optionally wherein the first pivoting gripper is configured and arranged for gripping the container at the container bottom.

[0029] In an embodiment, the receiving station is configured for presenting the container in the empty state to the container transfer handler with the container opening facing sideward in a direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station when transferred by the container transfer handler from the receiving station to the filling station, and wherein the receiving station is configured for receiving the container in the empty state with the container bottom facing downward and a first container side facing sideward in a direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station, and the receiving station comprises a second pivoting gripper for gripping the container and pivoting the container about a horizontal axis to present the container opening in the direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station when transferred by the container transfer handler from the receiving station to the filling station, optionally wherein the second pivoting gripper is configured and arranged for gripping the container at the container bottom.

[0030] In an embodiment, the receiving station comprises a first pivoting gripper for gripping the container and pivoting the container about a vertical axis to present a second container side panel adjacent the first container side panel in the direction associated withthe sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station when transferred by the container transfer handler from the receiving station to the filling station, optionally wherein the first pivoting gripper is configured and arranged for gripping the container at a third container side panel opposite the second container side panel.

[0031] In an embodiment, the apparatus comprises a container supply conveyor for conveying and supplying the container in the empty state to the receiving station, optionally in a container supply direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station. In exemplary non-limiting embodiments, the receiving station may comprise a container supply conveyor comprising a retractable end stop and a container pusher. The end stop and the container pusher may advantageously provide a fixed reference for the container, which may by extension, facilitate automated adjustment of the apparatus to accommodate both different types and sizes of containers.

[0032] In an embodiment, the apparatus comprises a container discharge conveyor for conveying and discharging the container in the filled state, optionally in a container discharge direction opposite a direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station.

[0033] In an embodiment, the apparatus comprises an article supply conveyor for conveying and supplying articles to the filling station, optionally in an article supply direction opposite a direction associated with the sideward facing direction of the container opening when filling the container with articles through the container opening at the filling station.

[0034] In an embodiment, the filling station is configured for grouping articles into an article group, and providing the article group into the container for filling the container with articles.

[0035] In an embodiment, the filling station comprises an article pusher for pushing articles into the container provided by the container transfer handler at the filling station for filling the container with articles.

[0036] In an embodiment, the filling station defines an article transfer level in between the first and second vertical levels at which articles are provided into the container held by the container transfer handler at the filling station, and the container transfer handler is configured to provide the container at the filling station at one or more vertical positions associated with the article transfer level to allow transferring articles into the container for filling the container with articles, especially with layers of articles that are defined with respect to the container as provided at the filling station and are provided onto a lower container side panel of the container as provided at the filling station by the container transfer handler for filling of the container with articles through the container opening while the container opening is facing sideward.

[0037] In exemplary non-limiting embodiments, the filling station may comprise a retractable slide plate configured to transfer articles into the container through the container opening at an article transfer level (Vtr).

[0038] In an embodiment, the filling station comprises a slide plate for projecting at the article transfer level through the container opening into the container provided by the container transfer handler at the filling station, to transfer articles over the slide plate into the container through the container opening to provide a layer of articles in the container, and to retract the slide plate after transferring the articles into the container for filling the container through the container opening with articles, wherein layers of articles are defined with respect to the container as provided at the filling station and are provided onto a lower container side of the container as provided at the filling station by the container transfer handler for filling of the container with articles through the container opening while the container opening is facing sideward.

[0039] In an embodiment, the apparatus or the method is configured for- filling two or more layers of articles into the container provided by the container transfer handler at the filling station for filling the container with articles;- projecting the slide plate into the container and subsequently retracting the slide plate from the container for each layer of articles; and- moving the container downward by the container transfer handler after filling a layer of articles into the container in correspondence with a layer height of the layer of articles.

[0040] In an embodiment, the apparatus or the method is configured for- when a layer of articles has been provided into the container, moving the container upward over a fraction of said layer height when the slide plate has been projected into the container before providing a next layer of articles into the container over the slide plate for compressing said layer of articles.

[0041] In an embodiment, the container has container flaps connected to respective container side panels along the container opening to allow closing the container opening by closing the container flaps, and the apparatus comprises a container flap opener for folding each container flap into a position transverse to a containers side to which a respective container flap is connected. The container flap opener may be provided at a vertical level associated with the first vertical level, or at a vertical level in between the first vertical level and a vertical level associated with the filling station.

[0042] In exemplary non-limiting embodiments, the apparatus may comprise a container flap opener configured to fold container flaps connected to respective container side panels along the container opening into a position transverse to a respective container side to which the container flap is connected. Also, it may be preferable, in some non-limiting embodiments, that the container flap opener is arranged at the first vertical level or in between the first vertical level and a vertical level associated with the filling station.

[0043] In a further aspect of the present disclosure, there is provided a method for filling a container in an empty state with articles through a container opening of the container whilethe container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom opposite the container opening and has mutually adjacent container side panels adjacent the container bottom and the container opening. The method comprises receiving the container in the empty state at a first vertical level at a receiving station; taking the container in the empty state from the receiving station with a container transfer handler and transferring the container in a vertical direction to a filling station arranged in between the first vertical level and a second vertical level, wherein the container opening is presented facing sideward at the filling station for filling of the container with articles through the container opening; receiving and filling articles into the container at the filling station; transferring the container in a filled state in a vertical direction from the filling station to a discharging station at the second vertical level, and discharging the container in the filled state from the discharging station at the second vertical level, wherein the container transfer handler comprises a first transfer gripper configured to grip the container at the receiving station, to hold and transfer the container from the receiving station to a take-over area in between the first and second vertical levels, and to present the container opening facing sideward at the take-over area and a second transfer gripper configured to grip the container at the take-over area to take over the container from the first transfer gripper, to hold and transfer the container from the take-over area to the discharging station, and to release the container in the filled state at the discharging station, the first and second transfer grippers configured to move in an at least substantial vertical direction.

[0044] In exemplary non-limiting embodiments, filling articles into the container at the filling station may comprise grouping the articles into an article group and providing the article group into the container.

[0045] Additionally or alternatively, filling articles into the container at the filling station may comprise, in exemplary non-limiting embodiments, projecting a slide plate into the container, providing a layer of articles over the slide plate into the container, retracting the slide plate, and moving the container downward a distance corresponding to a height of the layer of articles.

[0046] In exemplary non-limiting embodiments, the method may further comprise projecting the slide plate into the container after moving the container downward and thereafter moving the container upward a fraction of the distance corresponding to the height of the layer of articles to compress the layer of articles in the container before providing another layer of articles over the slide plate into the container.

[0047] Also, during filling, it is contemplated that (a) the container may be held by one or both of the first transfer gripper and the second transfer gripper and / or (b) take-over from the first transfer gripper to the second transfer gripper may take place.

[0048] Further and in accordance with the present disclosure, there is provided an apparatus and / or method according to any of the following clauses:

[0049] clause 1 : an apparatus (10) for filling a container (1) in an empty state with articles (2) through a container opening (1.5) of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom (1.2) opposite the container opening and has mutually adjacent container side panels (1.1) adjacent the container bottom and the container opening, and wherein the apparatus comprises- a receiving station (200) for receiving the container in the empty state at a first vertical level (V1);- a discharging station (400) for discharging the container in the filled state at a second vertical level (V2);- a filling station (300) for receiving and filling articles (2) into the container (1) in the empty state in between the first and second vertical levels while the container opening (1 .5) faces sideward for receiving articles into the container; and- a container transfer handler (100) for receiving and taking the container (1) in the empty state at the receiving station (200), holding and transferring the container in the empty state in a vertical direction from the receiving station to the filling station (300) and presenting the container opening (1.5) facing sideward at the filling station for filling of the container with articles through the container opening, holding and transferring the container in the filled state in a vertical direction from the filling station to the discharging station (400), and releasing the container in the filled state at the discharging station, wherein the container transfer handler comprises-- a first transfer gripper (110) for gripping the container at the receiving station, holding and transferring the container from the receiving station to a take-over area (Vto) in between the first and second vertical levels (V1 , V2), and for presenting the container opening facing sideward at the take-over area; and-- a second transfer gripper (120) for gripping the container at the take-over area (Vto) to take over the container from the first transfer gripper (110), holding and transferring the container from the take-over area to the discharging station (400), and releasing the container in the filled state at the discharging station, wherein the first and second transfer grippers are configured to move in an at least substantial vertical direction.

[0050] clause 2: a method for filling a container (1) in an empty state with articles (2) through a container opening (1.5) of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom (1.2) opposite the container opening and has mutually adjacent container side panels (1.1) adjacent the container bottom and the container opening, and wherein the method comprises- in a receiving station (200), receiving the container in the empty state at a first vertical level (V1);- in a discharging station (400), discharging the container in the filled state at a second vertical level (V2);- in a filling station (300), receiving and filling articles (2) into the container (1) in the empty state in between the first and second vertical levels while the container opening (1 .5) faces sideward for receiving articles into the container; and- by a container transfer handler (100), receiving and taking the container (1) in the empty state at the receiving station (200), holding and transferring the container in the empty state in a vertical direction from the receiving station to the filling station (300) and presenting the container opening (1.5) facing sideward at the filling station for filling of the container with articles through the container opening, holding and transferring the container in the filled state in a vertical direction from the filling station to the discharging station (400), and releasing the container in the filled state at the discharging station, wherein the container handler comprises a first transfer gripper (110) and a second transfer gripper (120), wherein the method comprises-- by the first transfer gripper (110), gripping the container at the receiving station, holding and transferring the container from the receiving station to a take-over area (Vto) in between the first and second vertical levels (V1 , V2), and presenting the container opening facing sideward at the take-over area; and-- by the second transfer gripper (120), gripping the container at the take-over area (Vto) to take over the container from the first transfer gripper (110), holding and transferring the container from the take-over area to the discharging station (400), and releasing the container in the filled state at the discharging station, wherein the first and second transfer grippers are configured to move in an at least substantial vertical direction.

[0051] clause 3: the apparatus or the method according to any one of the preceding clauses, wherein the take-over area (Vto) is associated with the filling station (300).

[0052] clause 4: the apparatus or the method according to any one of the preceding clauses, wherein the first vertical level (V1) is at a larger height than the second vertical level (V2).

[0053] clause 5: the apparatus or the method according to any one of the preceding clauses, wherein the first transfer gripper is movable by a first linear movement mechanism, and the second transfer gripper is movable by a second linear movement mechanism.

[0054] clause 6: the apparatus or the method according to any one of the preceding clauses, wherein at least one of the first and second transfer grippers comprises a suction arrangement for gripping the container by suction action, optionally wherein the suction arrangement comprises one or more suction cups.

[0055] clause 7: the apparatus or the method according to any one of the preceding clauses, wherein the receiving station (200) is configured for presenting the container (10) in the empty state to the container transfer handler (100) with the container opening (1.5) facing sideward in a direction associated with the sideward facing direction (Ds) of thecontainer opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler from the receiving station to the filling station.

[0056] clause 8: the apparatus or the method according to the preceding clause as dependent on clause 4, wherein the first transfer gripper (110) is configured to grip the container (1) at an upper part of the container as seen when the container is presented at the receiving station (200) to the container transfer handler (100).

[0057] clause 9: the apparatus or the method according to the preceding clause, wherein the first transfer gripper (110) is configured to grip the container (1) at an upward facing side panel (1.1) of the container as seen when the container is presented at the receiving station (200) to the container transfer handler (100).

[0058] clause 10: the apparatus or the method according to any one of the preceding two clauses, wherein the first transfer gripper (110) is configured to grip the container (1) at a sideward facing side panel (1 .1) of the container, as seen when the container is presented by the receiving station (200) to the container transfer handler (100).

[0059] clause 11 : the apparatus the method according to any one of the preceding three clauses, wherein the first transfer gripper 110) is configured to grip the container (1) adjacent the container bottom (1 .2).

[0060] clause 12: the apparatus or the method according to any one of the preceding clauses, wherein the container transfer handler comprises a back plate (150) associated with the filling station (300) for supporting the container bottom (1 .2) while filling the container (1) with articles (2) at the filling station.

[0061] clause 13: the apparatus or the method according to any one of the preceding clause as dependent on clause 4, wherein the second transfer gripper (120) is configured to grip the container (1) at a lower part of the container as seen when the container is presenting the container opening (1 .5) facing sideward at the filling station (300) for filling of the container with articles (2) through the container opening.

[0062] clause 14: the apparatus or the method according to the preceding clause, wherein the second transfer gripper (120) is configured to grip the container (1) at a downward facing side panel (1 .1) of the container, as seen when the container is presenting the container opening (1 .5) facing sideward at the filling station (300) for filling of the container with articles through the container opening.

[0063] clause 15: the apparatus or the method according to any one of the preceding two clauses, wherein the second transfer gripper (120) is configured to grip the container (1) at a sideward facing side panel (1.1) of the container as seen when the container is presenting the container opening (1 .5) facing sideward at the filling station (300) for filling of the empty container with articles through the container opening.

[0064] clause 16: the apparatus or the method according to any one of the preceding three clauses, wherein the second transfer gripper (120) is configured and arranged to grip the container (1) adjacent the container bottom (1 .2).

[0065] clause 17: the apparatus or the method according to any one of the preceding clauses, wherein the second transfer gripper (120) is configured for rotating the container (1) from a position having the container opening (1 .5) facing sideward which allowed filling the container with articles at the filling station (300) to a position of the container having the container opening (1.5) facing upward and the container bottom (1.2) facing downward for presenting the container in the filled state with the container bottom on a container support of the discharging station (400).

[0066] clause 18: the apparatus or the method according to the preceding clause, wherein the discharging station (400) comprises a pivot plate (450) arranged to at least partially cover the container opening (1.5), and configured for pivoting together with the container while the container is being rotated by the second transfer gripper (120) to at least partially cover the container opening while being rotated to the position having the container opening facing upward.

[0067] clause 19: an apparatus (10) for filling a container (1) in an empty state with articles (2) through a container opening (1.5) of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom (1.2) opposite the container opening and has mutually adjacent container side panels (1.1) adjacent the container bottom, and wherein the apparatus comprises- a receiving station (200) for receiving the container in the empty state at a first vertical level (V1);- a discharging station (400) for discharging the container in the filled state at a second vertical level (V2);- a filling station (300) for receiving and filling articles (2) into the container (1) in the empty state in between the first and second vertical levels while the container opening (1 .5) faces sideward for receiving articles into the container; and- a container transfer handler (100) for receiving and taking the container (1) in the empty state at the receiving station (200), holding and transferring the container in the empty state in a vertical direction from the receiving station to the filling station (300) and presenting the container opening (1.5) facing sideward at the filling station for filling of the container with articles through the container opening, holding and transferring the container in the filled state in a vertical direction from the filling station to the discharging station (400), and releasing the container in the filled state at the discharging station.

[0068] clause 20: a method for filling a container (1) in an empty state with articles (2) through a container opening (1.5) of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom (1.2) opposite the container opening and has mutually adjacent container side panels (1.1) adjacent the container bottom, and wherein the method comprises- in a receiving station (200), receiving the container in the empty state at a first vertical level (V1);- in a discharging station (400), discharging the container in the filled state at a second vertical level (V2);- in a filling station (300), receiving and filling articles (2) into the container (1) in the empty state in between the first and second vertical levels while the container opening (1 .5) faces sideward for receiving articles into the container; and- by a container transfer handler (100), receiving and taking the container (1) in the empty state at the receiving station (200), holding and transferring the container in the empty state in a vertical direction from the receiving station to the filling station (300) and presenting the container opening (1.5) facing sideward at the filling station for filling of the container with articles through the container opening, holding and transferring the container in the filled state in a vertical direction from the filling station to the discharging station (400), and releasing the container in the filled state at the discharging station.

[0069] clause 21 : the apparatus or the method according to any one of the preceding clauses, wherein the receiving station (200) is configured for presenting the container (10) in the empty state to the container transfer handler (100) with the container opening (1.5) facing sideward in a direction associated with the sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler from the receiving station to the filling station, and wherein the receiving station (200) is configured for receiving the container (1) in the empty state with the container bottom (1 .2) facing sideward and with a container side panel (1.1) facing sideward in a direction associated with the sideward facing direction (Ds) of the container opening (1 .5) when filling the container with articles through the container opening at the filling station (300), and the receiving station comprises a first pivoting gripper (221) for gripping the container and pivoting the container about a vertical axis to present the container opening (1 .5) in the direction associated with the sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler (100) from the receiving station to the filling station, optionally wherein the first pivoting gripper (221) is configured and arranged for gripping the container (1) at the container bottom (1 .2).

[0070] clause 22: the apparatus or the method according to any one of the preceding clauses, wherein the receiving station (200) is configured for presenting the container (10) in the empty state to the container transfer handler (100) with the container opening (1.5) facing sideward in a direction associated with the sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler from the receiving station to the filling station, and wherein the receiving station (200) is configured for receiving the container (1) in the empty state with the container bottom (1 .2) facing downward and afirst container side (1.1) facing sideward in a direction associated with the sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300), and the receiving station comprises a second pivoting gripper (222) for gripping the container and pivoting the container about a horizontal axis to present the container opening (1.5) in the direction associated with the sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler (100) from the receiving station to the filling station, optionally wherein the second pivoting gripper (222) is configured and arranged for gripping the container (1) at the container bottom (1 .2).

[0071] clause 23: the apparatus or the method according to the preceding clause, wherein the receiving station comprises a first pivoting gripper (221) for gripping the container and pivoting the container about a vertical axis to present a second container side panel (1.1) adjacent the first container side panel in the direction associated with the sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler (100) from the receiving station to the filling station, optionally wherein the first pivoting gripper (221) is configured and arranged for gripping the container (1) at a third container side panel (1.1) opposite the second container side panel.

[0072] clause 24: the apparatus or the method according to any one of the preceding clauses, wherein the apparatus comprises a container supply conveyor (210) for conveying and supplying the container (1) in the empty state to the receiving station (200), optionally in a container supply direction (Dr) associated with the sideward facing direction (Ds) of the container opening (1.5) when filling the container with articles (2) through the container opening at the filling station (300).

[0073] clause 25: the apparatus or the method according to any one of the preceding clauses, wherein the apparatus comprises a container discharge conveyor (430) for conveying and discharging the container (1) in the filled state, optionally in a container discharge direction (Dd) opposite a direction associated with the sideward facing direction (Ds) of the container opening (1.5) when filling the container with articles through the container opening at the filling station (300).

[0074] clause 26: the apparatus or the method according to any one of the preceding clauses, wherein the apparatus comprises an article supply conveyor (310) for conveying and supplying articles (2) to the filling station (300), optionally in an article supply direction (Da) opposite a direction associated with the sideward facing direction (Ds) of the container opening (1 .5) when filling the container with articles through the container opening at the filling station (300).

[0075] clause 27: the apparatus or the method according to any one of the preceding clauses, wherein the filling station (300) is configured for grouping articles into an article group, and providing the article group into the container for filling the container with articles.

[0076] clause 28: the apparatus or the method according to any one of the preceding clauses, wherein the filling station comprises an article pusher (340) for pushing articles into the container (1 ) provided by the container transfer handler (100) at the filling station (300) for filling the container with articles (2).

[0077] clause 29: the apparatus or the method according to any one of the preceding clauses, wherein the filling station (300) defines an article transfer level (Vtr) in between the first and second vertical levels (V1 , V2) at which articles are provided into the container (1) held by the container transfer handler (100) at the filling station, and the container transfer handler is configured to provide the container at the filling station at one or more vertical positions associated with the article transfer level to allow transferring articles into the container for filling the container with articles (2), especially with layers of articles that are defined with respect to the container as provided at the filling station and are provided onto a lower container side panel of the container as provided at the filling station by the container transfer handler for filling of the container with articles through the container opening while the container opening is facing sideward.

[0078] clause 30: the apparatus or the method according to the preceding clause, wherein the filling station (300) comprises a slide plate (350) for projecting at the article transfer level (Vtr) through the container opening (1 .5) into the container (1) provided by the container transfer handler (100) at the filling station, to transfer articles over the slide plate into the container through the container opening to provide a layer of articles in the container, and to retract the slide plate after transferring the articles into the container for filling the container through the container opening with articles, wherein layers of articles are defined with respect to the container as provided at the filling station and are provided onto a lower container side of the container as provided at the filling station by the container transfer handler for filling of the container with articles through the container opening while the container opening is facing sideward.

[0079] clause 31 : the apparatus or the method according to the preceding clause, wherein the apparatus or the method is configured for- filling two or more layers of articles into the container provided by the container transfer handler at the filling station for filling the container with articles;- projecting the slide plate into the container and subsequently retracting the slide plate from the container for each layer of articles; and- moving the container downward by the container transfer handler after filling a layer of articles into the container in correspondence with a layer height of the layer of articles.

[0080] clause 32: the apparatus or the method according to the preceding clause, wherein the apparatus or the method is configured for- when a layer of articles has been provided into the container, moving the container upward over a fraction of said layer height when the slide plate has been projected into the container before providing a next layer of articles into the container over the slide plate for compressing said layer of articles.

[0081] clause 33: the apparatus or the method according to any one of the preceding clauses, wherein the container (1) has container flaps (1.3) connected to respective container side panels (1.1) along the container opening (1 .5) to allow closing the container opening by closing the container flaps, and the apparatus comprises a container flap opener (240) for folding each container flap into a position transverse to a containers side to which a respective container flap is connected.

[0082] clause 34: the apparatus or the method according to any one of the preceding clauses, wherein the container flap opener is provided at a vertical level associated with the first vertical level (V1), or at a vertical level in between the first vertical level (V1) and a vertical level associated with the filling station (300).BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The present invention will be discussed in more detail below, with reference to the attached drawings, in which:

[0084] Figure 1 shows an exemplary apparatus according to the present disclosure;

[0085] Figures 2A and 2B show schematic views of stages of the flow of containers (a case and a tray, respectively) through the exemplary apparatus of Fig. 1 ;

[0086] Figure 3 shows the receiving station and container transfer handler of the exemplary apparatus of Fig. 1 , with part of the first pivoting gripper mechanism removed to show the first transfer gripper;

[0087] Figures 4A and 4B show detailed views of case pivoting and forwarding at the receiving station of the exemplary apparatus of Fig. 1 ;

[0088] Figure 5 shows the receiving station and container transfer handler of the exemplary apparatus of Fig. 1 at a further stage with respect to Fig. 3;

[0089] Figure 6 shows a detailed view of receipt of a container by the container transfer handler of the exemplary apparatus of Fig. 1 ;

[0090] Figure 7 shows the container transfer handler of the exemplary apparatus of Fig. 1 with a container positioned at the filling station;

[0091] Figure 8 shows the container transfer handler and the discharging station of the exemplary apparatus of Fig. 1 ; and

[0092] Figures 9A and 9B show detailed side and perspective views, respectively, of container discharge at the discharging station.DETAILED DESCRIPTION OF EMBODIMENTS

[0093] Figure 1 generally shows an embodiment of an apparatus 10 for filling a container 1 with articles 2. Some articles 2 and their article supply direction Da by an appropriate initial article conveyor are only schematically shown in figure 1 . Figure 1 shows the container 1 in the apparatus 10 at various stages of its flow through the apparatus. Figure 2A schematically shows only the container 1 at the various stages of its flow through the apparatus. The container 1 shown in figures 1 and 2A is a regular case (that may aRegular Slotted Case or RSC case) having flaps 1 .3 that can be folded to a closed configuration for closing an opening 1.5 of the container. Articles 2 can be loaded into the case and taken from the case when the flaps 1 .3 are in an open configuration to provide the opening 1.5 of the case. Figures 1 and 2A show the flaps 1.3 only in open configurations. The apparatus 10 can also process trays, although it may require some reconfiguration of the apparatus 10 to switch between processing regular cases and trays. Figure 2B schematically shows a tray as the container 1 at various stages of its flow through the apparatus 10. A tray has an opening 1 .5 that is not closed. The container / case / tray 1 has a container bottom 1.2 opposite the container opening 1.5 and has mutually adjacent container side panels 1 .1 adjacent the container bottom 1 .2.

[0094] The flow of a regular case as container 1 through the apparatus 10 starts with a blank 1 A of the case. A pile of blanks 1 A is provided into the apparatus, of which only one blank 1A shows in figures 1 and 2A. The blank 1A is shown as a stage A of the container flow through the apparatus in figure 2A, and is provided in a case erector 250 that can be part of a (container) receiving station 200 of the apparatus 10. The regular case has four side panels 1.1 that are mutually connected to provide a circumference of the case, and flaps 1.3 at opposing panel flank sides that do not connect to other panels. Flaps at associated flank sides of the side panels 1.1 are put in a closed configuration to provide a closed case / container bottom 1.2, while the flaps 1.3 at the opposing sides are left in the open configuration to provide a case / container opening 1.5. The blank 1A at stage A in figure 2A has the side panels connected to one another and laying on one another, while all flaps are in an open configuration. A panel at the top side of the blank 1A is lifted, for instance, using a suction cup arrangement, so that the panels of the blank unfold, after which the flaps associated with the case bottom are put in the closed configuration to provide the case bottom. Stage B in figure 2A shows the erected case, which has been provided onto a container supply conveyor 210, as shown in figure 1 , supplying the container in a container supply direction Dr with the case / container opening 1 .5 facing in a horizontal direction transverse to the container supply direction Dr. In a next stage C, the case / container is rotated or pivoted around a vertical axis to have the case / container opening 1 .5 facing in the container supply direction Dr as shown in stage D of figure 2A. This will be described further below in relation to the apparatus 10. Subsequently, the flaps are put in an open position having the flaps transverse to their associated panels in a container flap opener, and the case / container 1 is moved in a vertical downward direction V to arrive at the stage E shown in figure 2A. Stage E is associated with filling of articles into the container at a (container) filling station 300 while the container opening 1.5 faces in a sideward direction Ds. The sideward facing direction Ds (which is an at least substantially horizontal direction) of the container opening 1.5 at stage E is associated with filling of articles 2 into the case / container 1 at an article transfer level Vtr. In the embodiment shown, the container supply direction Dr corresponds to the sideward facing direction Ds of the container opening at the filling station 300 at stage E. After filling of the case / container with articles at stage Eat the filling station 300, the case / container is moved further down in the vertical downward direction V to arrive at stage F, at which the filled case / container is pivoted around a horizontal axis to have the case / container opening 1.5 facing upward. Stage G shows the case / container opening facing upward, while the filled case / container is discharged in a container discharge direction Dd. Stage H is associated with a final discharge from apparatus 10.

[0095] Figure 2B shows a similar sequence of stages of a tray as a container 1 through apparatus 10 in an embodiment that has been configured for processing trays, but which is largely identical to an apparatus 10 for processing regular cases. In the tray embodiment of the apparatus 10, trays have been set up elsewhere and are provided in a stage A from above onto the container supply conveyor 210 with the container opening 1 .5 facing upward in a stage B. In a next stage C1 , the tray / container is rotated or pivoted around a vertical axis, and subsequently in a stage 02 around a horizontal axis to have the tray / container opening 1 .5 facing in the container supply direction Dr as shown in stage D of figure 2B. The tray is initially provided in stages A and B with an open display side directed in the container supply direction Dr. The open display direction is rotated sideward in stage 01. To provide a closed side panel in the container supply direction Dr. Articles are collected on this closed side panel of the container in the filling station 300. Subsequently, from stage D the tray / container 1 is moved in the vertical downward direction V to arrive at the stage E shown in figure 2B. Stage E is again associated with filling of articles into the container at the filling station 300 while the container opening 1 .5 faces in the sideward facing direction Ds. Again, the sideward facing direction Ds (which is an at least substantially horizontal direction) of the container opening 1.5 at stage E is associated with filling of articles 2 into the tray / container 1. In the embodiment shown, the container supply direction Dr corresponds to the sideward facing direction Ds of the container opening at the filling station 300 at stage E. After filling of the tray / container with articles at stage E at the filling station 300, the tray / container is moved further down in the vertical downward direction Vto arrive at stage F, at which the filled tray / container is pivoted around a horizontal axis to have the tray / container opening 1 .5 facing upward. Stage G shows the tray / container opening facing upward, while the tray / container filled with articles 2 is discharged in a discharge direction Dd. Stage H is again associated with a final discharge from apparatus 10.

[0096] In stages A to D of figures 2A and 2B the case / tray / container 1 is in an empty state, while articles are filled through the container opening 1 .5 into the case / tray / container at filling stage E to result in a case / tray / container in a filled state in stages F, G and H. The container 1 in the empty state is received (along the container supply / receiving direction Dr) at a first vertical level V1 at a receiving station 200 of the apparatus 10, which is associated with stage D in figures 2A and 2B. The container 1 in the filled state is discharged (along the container discharge direction Dd) at a second vertical level V2 at a (container) discharging station 400 of the apparatus 10, which is associated with stage F in figures 2A and 2B. The container filling station 300 for receiving articles 2 and filling articles through the containeropening 1.5 into the case / tray / container 1 in the empty state is in between the first and second vertical levels V1 , V2, while the container opening faces sideward in the sideward facing direction Ds that is directed opposite an article filling direction Da along which articles 2 are filled into the container 1 at stage E associated with the filling station 300. A container transfer handler 100 provides the container from the receiving station 200 at the first vertical level V1 to the filling station 300 in between the first and second vertical levels V1 , V2 and subsequently to the discharging station 400 at the second vertical level V2. In the embodiment shown, the first vertical level V1 is at a larger height than the second vertical level V2.

[0097] Figure s shows a top part of the container transfer handler 100, the filling station 300, the receiving station 200 and the container supply conveyor 210. A regular case is supplied as the container 1 by the container supply conveyor 210 towards the container receiving station 200. As a result of the case erection in the case erector 250, the case / container 1 (in the empty state) is supplied with a container side panel 1.1 supported on the container supply conveyor, with the container bottom 1 .2 facing sideward and with another container side panel 1.1 facing sideward in the container receiving direction Dr along which the case / container is received at the container receiving station 200. The container receiving direction Dr is associated with the sideward facing direction Ds of the case / container opening 1 .5 when filling the case / container with articles through the container opening at the filling station 300, in the embodiment shown. The receiving station has a first pivoting gripper 221 for gripping the container at the case / container bottom 1 .2 and pivoting the container about a vertical axis to present the case / container opening 1 .5 in the sideward facing direction Ds of the case / container opening 1.5 when filling the case / container with articles at the filling station 300, when the case / container has been transferred by the container transfer handler 100 from the receiving station 200 to the filling station 300. Figures 4A and 4B show the gripping of the case 1 at the case bottom 1.2 by the first pivoting gripper 221 from another perspective. The first pivoting gripper 221 is movable through a first pivoting mechanism 223 that provides for pivoting and forwarding the case / container 1 along a trajectory to an appropriate position with the container opening 1 .5 directed in the appropriate direction Ds at the container receiving station 200 for further handling by the container transfer handler 100. Before being gripped by the first pivoting gripper 221 , the case / container is supplied forward against a downward retractable end stop 211 of the container supply conveyor 210 and subsequently moved sideward by a container pusher 212 against the first pivoting gripper 221 .

[0098] Movement against the end stop 211 and the first pivoting gripper 221 provides a fixed reference for the containers. By giving in the dimensions of the container in the control system of the machine, all other dimensional settings of the machine can be readily adjusted and containers of various shapes and dimensions are easily and efficiently handled. Alternatively, the dimensions of the container can be determined when moved against the end stop 211 and first pivoting gripper 221 , or elsewhere in the machine, for auto-adjustmentof the further dimensional settings of the machine for adjusting to the shape and dimension of the container processed at that moment.

[0099] The first pivoting mechanism 223 is adjustable to the height of a case so that the case opening is always provided in the same vertical plane in the receiving station 200 for the case opening also to be in the same vertical plane when transferred to the filling station. Movement of the first pivoting gripper 221 by the first pivoting mechanism 223 in a direction along the direction Dr is adjusted in accordance with the case / container height (as measured between case bottom 1.2 and case opening 1.5). A horizontal position of the container transfer handler 100 is adjusted as well in accordance with the case / container height.

[0100] Figure 3A shows a tray as the container 1 on the container supply conveyor 210. The tray / container 1 (in the empty state) has been dropped from above onto the container supply conveyor 210, in the embodiment shown, with a first container side panel (a partly open display side panel) in the container supply direction Dr and with the container bottom 1 .2 supported on the container supply conveyor. The partly open tray / container side panel 1.1 is facing sideward in a direction associated with the sideward facing direction Ds of the container opening 1.5 when filling the tray / container with articles through the container opening at the filling station 300. The tray / container is again supplied against the downward retractable end stop 211 of the container supply conveyor and subsequently pushed by the container pusher 212 with a second container side panel against the first pivoting gripper 221 . The second container side panel is directed sideward and adjacent the first container side panel that is facing in the container supply direction Dr. The first pivoting gripper 221 pivots the tray / container around the vertical axis to orient at third container side panel opposite the second container side panel in the sideward facing direction Ds associated with filling of the container with articles. The apparatus 10 has a second pivoting gripper 222 for gripping the tray / container and pivoting the tray / container about a horizontal axis to present the tray / container opening 1 .5 in the direction associated with the sideward facing direction Ds of the container opening when filling the container with articles at the filling station, when the tray / container has been transferred by the container transfer handler 100 from the receiving station 200 to the filling station 300. In the embodiment shown, the second pivoting gripper 222 grips the tray / container at the container bottom 1 .2 and is movable through a second pivoting gripper mechanism 224. The second pivoting gripper mechanism 224 can be adjusted to an appropriate height for receiving the tray. In this way a closed side panel of the tray will receive article 2 thereon when being filled into the tray at the filling station. Again, movement of the first pivoting gripper 221 by the first pivoting mechanism 223 in a direction along the direction Dr is adjusted in accordance with the tray width and tray height, and the horizontal position of the container transfer handler 100 is adjusted as well in accordance with the tray / container height.

[0101] In an alternative embodiment, the tray 1 could be provided directly from the container supply conveyor 210 onto the second pivoting gripper 222, while not employingthe first pivoting gripper 221. In such embodiment, the open display side panel of the tray should be facing transverse to the container supply direction Dr or the tray should have all closed side panels. In all embodiments, the receiving station 200 presents the container 1 in the empty state to the container transfer handler 100 with the container opening 1 .5 facing sideward in the direction associated with the sideward facing direction Ds of the container opening when filling the container with articles through the container opening at the filling station 300 when transferred by the container transfer handler from the receiving station to the filling station 300. The pivoting grippers 221 , 222 have a suction arrangement with suction cups for gripping the container.

[0102] A flap opener 240 is provided for opening flaps 1 .3 of a case 1 when received at the receiving station 200 and to maintain the flaps 1 .3 in open positions transverse to the associated container side panels 1.1 at the filling station. To that end the flap opener 240 has opening members 241 that are provided into the case and can be rotated to bring the flaps in the transverse positions, while the flap guides 242 maintain the flaps 1.3 in the transverse positions when the case is moved by the container transfer handler 100 from the receiving station 200 to the filling station 300. Positions of the flap openers 241 and the flap guides 242 can be adjusted to the dimensions of the cases being processed. The container flap opener is provided at a vertical level associated with the first vertical level V1 , or may be at a vertical level in between the first vertical level V1 and a vertical level associated with the container filling station 300.

[0103] Figures 3, 5, 7 and 8 specifically show the container transfer handler 100. Figures 3 and 5 show the container transfer handler 100 predominantly together with the receiving station 200 and the filling station 300, figure 7 predominantly together with the filling station 300, and figure 8 predominantly together with the filling station 300 and the container discharging station 400. The container transfer handler 100 receives and takes the container 1 in the empty state at the first vertical level V1 at the receiving station 200, and subsequently holds and transfers the container in the empty state in a vertical direction from the receiving station to the filling station 300. At the filling station, the container opening 1 .5 faces sideward in the direction Ds for filling of the container with articles through the container opening. Subsequently, the container is held and transferred in the filled state in a vertical direction from the filling station to the discharging station 400 at a second vertical level V2. At the discharging station, the container is released and discharged. The first vertical level V1 is above the second vertical level V2 in the embodiment shown.

[0104] The container transfer handler 100 has a first transfer gripper 110 and a second transfer gripper 120. A part of the first pivoting mechanism 223 is removed in figure 3 to show the first transfer grippe3 110. The first transfer gripper 110 is movable up and down in the vertical direction by a first linear movement mechanism 111 , and the second transfer gripper is movable up and down in the vertical direction by a second linear movement mechanism 121. The linear movement mechanisms 111 , 121 are arranged on a vertical pole 130 of the container transfer handler. The embodiment shown has a single pole 130.The linear movement mechanism 121 of the second transfer gripper 120 is arranged on the front side of the pole 130 as seen in figures 3, 5 and 7, while the linear movement mechanism 111 of the first transfer gripper 110 is arranged at the back side of the pole 130, which is not visible in the figures. The transfer grippers 110, 120 both have a suction arrangement with suction cups, which allow the container to be gripped by the transfer grippers. The linear movement mechanisms 111 , 121 can be linear motors or any other suitable actuator for the purpose.

[0105] The first transfer gripper 110 is arranged in the upper part of the container transfer handler 100 to cover a vertical range for a container moved by the first transfer gripper, which comprises the container receiving station 200 and the first vertical level V1 and an area associated with the filling station 300. The second transfer gripper 120 is arranged in the lower part of the container transfer handler 100 to cover a vertical range for the container to be moved from the area associated with the filling station 300 to the container discharging station 400 and the second vertical level V2. The first transfer gripper 110 is arranged for gripping the container at the container receiving station 200 at the first vertical level V1 , and for holding and transferring the container from the receiving station to a take-over area Vto that is associated with the filling station 300 in the embodiment shown. The container opening 1.5 is presented facing sideward at the take-over area Vto. The second transfer gripper 120 is arranged for gripping the container at the take-over area Vto to take over the container from the first transfer gripper, and for subsequently holding and transferring the container from the take-over area Vto to the container discharging station 400.

[0106] Figure s shows that a case / container 1 is supplied by the container supply conveyor 210 to the first pivoting gripper 221 of the receiving station 200. Figure 5 shows that the case / container 1 has been transferred by the first pivoting gripper 221 , and received and taken by a first part 110.1 of the first transfer gripper 110 of the container transfer handler 100 at the first vertical level V1. Figure 6 shows the container 1 , the first pivoting gripper 221 and the first transfer gripper 110 in more detail. The first pivoting gripper 221 in an embodiment for cases or the first and second pivoting grippers 221 , 222 in an embodiment for trays provides the container 1 to a position in an appropriate orientation for the first transfer gripper 110 to take over. The first transfer gripper 110 has a first part 110.1 configured to grip the container at an upper part of the container, especially an upward facing side panel 1.1 of the container, as seen when the container is presented by the receiving station to the container transfer handler. The first part 110.1 is rotated onto the upward facing side panel 1.1 of the container. Additionally, the first transfer gripper 110 has a second part 110.2 configured to grip the container 1 at a sideward facing side panel 1.1 of the container as seen when the container is presented by the receiving station 200 to the container transfer handler 100. By gripping of the first transfer gripper to both the upward facing side panel and an adjacent sideward facing side panel, the container 1 is held firmly in position. For further improved stability and advantageous moving and positioning of thecontainer, the first transfer gripper is configured and arranged to grip the container adjacent the container bottom 1 .2. Figure 5 shows that the first transfer gripper is holding the container, and that the first pivoting gripper is moving back again for taking of a next container 1 . While the first transfer gripper 110 is holding the case / container 1 , its flaps 1 .3 are opened to the open positions transverse to the associated side panels 1.1 by the flap opener 240. Both the first and second parts 110.1 , 110.2 of the first transfer gripper 110 have a suction cup arrangement with one or more suction cups for holding the container, as is visible in the figures.

[0107] Subsequently, the container 1 held by the first transfer gripper 110 is moved vertically downward through the associated first linear movement mechanism 111 to the take-over area Vto, which is associated with the container filling station 300. The take-over area Vto generally is a vertical range in which the second transfer gripper 120 can take over the container from the first transfer gripper 110. The take-over may take place at various vertical levels within the take-over area Vto, or even over a height range within the take-over area Vto. In the latter case, both transfer grippers will hold the container over the height range. Figure 7 shows that both the first and second transfer grippers 110, 120 hold the container 1 .

[0108] The second transfer gripper 120 grips the container 1 at a lower part of the container, at a downward facing side panel 1 .1 of the container, as seen when the container is presenting the container opening 1 .5 facing sideward at the filling station 300 for filling of the empty container with articles 2 through the container opening. Additionally, the second transfer gripper 120 may be configured to grip the container at a sideward facing side panel 1 .1 of the container, as has been described with respect to the first container transfer gripper 110. The second transfer gripper 120 is configured and arranged to grip the container adjacent the container bottom 1 .2 for, inter alia, improved stability.

[0109] The container transfer handler has a back plate 150 associated with the filling station 300. The back plate 150 supports the container bottom 1.2 of the container 1 while being filled with articles 2. During filling, a backward directed force will be exerted on the container 1 by the articles 2 being filled therein, which is counteracted by the back plate 150 to keep the container in place while filling. Otherwise, the container 1 could move backwards during filling and become detached from the first and / or second transfer gripper 110, 120. The horizontal position of the back plate 150 is adjusted in correspondence with the height of the container (case height or tray height) to have the container opening 1.5 in a defined vertical plane when facing sideward while filling the container with articles. Actually, the backplate 150 is placed at the required horizontal position as a part of the container transfer handler 100 that can be moved horizontally to allow for containers having various heights. The second pivoting mechanism 224 together with the second pivoting gripper 222 is mounted on the pole 130 of the container transfer handler 100 as well for a correct horizontal positioning of the second pivoting gripper 222 to a tray height. One or both of the first and second transfer grippers 110, 120 may hold the container 1 while being filled, and / or atake-over from the first to the second transfer gripper may take place during the filling process.

[0110] When the container is filled with articles 2 at the filling station 300, the container in the filled state is moved downward by the second transfer gripper 120 through the second linear movement mechanism 121 to arrive at the container discharging station 400. The second gripper 120 is configured for rotating the container 1 from a position having the container opening 1 .5 facing sideward which allows filling the container with articles at the filling station 300 to a position of the container having the container opening 1.5 facing upward and the container bottom 1 .2 facing downward for presenting the container in the filled state with the container bottom on a container support 410 of the discharging station 400. Figure 8 shows a container 1 in dashed lining (for clarity reasons), and shows the second transfer gripper 120 at its lowest position at the discharging station 400. The second transfer gripper 120 has put the container in the filled state with its container bottom 1.2 onto the container support 410 and has been rotated back again to a horizontal orientation for gripping a next container at the take-over area Vto. Another gripper 420 takes the container to move it further. Subsequently, the container is discharged further by a container discharge conveyor 430 that can have multiple segments. As is visible in figure 1 , the container is discharged away from the discharging station 400 in a container discharge direction Dd opposite a direction associated with the sideward facing direction Ds of the container opening 1 .5 when filling the container with articles through the container opening at the filling station 300.

[0111] Figures 9A and 9B do show the container in the filled state at the discharging station 400, while the container is slightly tilted backward. Figures 8, 9A and 9B further show a pivot plate 450 that rotates together with the container while it is rotated by the second transfer gripper 120 to have the container bottom 1.2 provided onto the container support 410. The pivot plate at least partially covers the container opening 1.5 while the container is rotated backward to prevent articles 2 from being removed from the container in the filled state during the backward rotation of the container to have the container opening 1.5 facing upward.

[0112] Figure 1 schematically shows that articles 2 in the form of bags are provided in the article supply direction Da to the apparatus 10 and especially to the filling station 300 of the apparatus. The articles 2 are supplied on an initial article supply conveyor that is not shown in the figure. Only two articles / bags 2 are generally shown to be supplied in the article supply direction Da to a final article supply conveyor 310 that is shown to be placed in a slanted fashion with respect to a horizontal plane. The final article supply conveyor 310 supplies the articles to an article grouping conveyor 320 of the filling station 300. The article grouping conveyor 320 is positioned in a transverse direction to the supply direction Da of the final article supply conveyor 310 and supplies articles transverse to the article supply direction Da towards the container to be filled at the filling station 300. This allows grouping of articles on the article grouping conveyor 320. Articles may be grouped next to one anotherbut also overlapping one another in an article group. The height of the article grouping conveyor 320 with respect to the final article supply conveyor 310 is such that articles can be provided from the final article supply conveyor 310 onto the article grouping conveyor 320 in the overlapping or non-overlapping article groups. The article grouping conveyor 320 provides an article group in front of the container opening 1.5 of a container 1 provided by the container transfer handler 100 at the filling station 300. Figure 7 shows a container 1 in dashed lining at the filling station 300, while various parts of the apparatus 10 have been left out of the drawing of figure 7.

[0113] The filling station 300 has an article pusher 340 (only schematically shown) for pushing the article group from the article grouping conveyor 320 into the container 1 through the container opening 1 .5 that faces in the sideward facing direction Ds. Guiding walls 331 , 332 are provided to guide the article group from the article grouping conveyor into the container. Guiding wall 331 is vertically in a fixed position, while guiding wall 332 is movable up and down to allow passing an article group by the article grouping conveyor from the discharging end of the final article supply conveyor 310 to in front of the container opening 1 .5. A distance between the guiding walls 331 , 332 can be adjusted in accordance with container dimensions.

[0114] The article group is transferred at an article transfer level Vtr, which is defined by the top surface of the article grouping conveyor 320 in the embodiment shown, into the container at the filling station 300. The article transfer level Vtr is in between the first and second vertical levels V1 , V2 of the receiving station 200 and discharging station 400, respectively. Figure 7 shows that the article group is provided through the container opening 1.5 onto a side panel of the container 1. Multiple article groups may be provided into the container on top of one another in layers. The container transfer handler 100 is configured to allow to provide the container 1 at multiple vertical positions associated with the article transfer level Vtr, which allows transferring article groups in multiple layers of articles at multiple respective levels into the container on top of one another on a container side panel. Layers of articles are defined with respect to the container as provided at the filling station and are provided onto a lower container side panel as provided at the filling station by the container transfer handler 100 for filling of the container with articles through the container opening while the container opening is facing sideward.

[0115] The filling station 300 further has a slide plate 350 for projecting at the article transfer level Vtr through the container opening 1.5 into the container 1. The slide plate projects from under the article grouping conveyor 320 into the container, and is slidable for projecting into the container and for retracting again. An article group is provided over the slide plate into the container to provide a layer of articles. The apparatus is configured for filling two or more layers of articles into the container, projecting the slide plate into the container and subsequently retracting the slide plate from the container for each layer of articles, and moving the container downward by the container transfer handler after filling a layer of articles into the container. The container is moved downwards in correspondencewith a layer height of the layer of articles. When a layer of articles has been provided into the container, the container is moved upward over a fraction of said layer height when the slide plate has been projected into the container before providing a next layer of articles into the container over the slide plate for compressing the previous layer(s) of articles. This will compress lower lying layers somewhat for an enhanced filling of the container.

[0116] While the invention has been described herein by reference to certain embodiments, it is to be understood that modifications in addition to those described herein may be made to the structures and techniques described herein without departing from the spirit and scope of the invention. Accordingly, although specific embodiments have been described, they are examples only and are not limiting upon the scope of the invention.

Claims

CLAIMS1. An apparatus (10) for filling a container (1) in an empty state with articles (2) through a container opening (1.5) of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom (1 .2) opposite the container opening and has mutually adjacent container side panels (1.1) adjacent the container bottom and the container opening, and wherein the apparatus comprises- a receiving station (200) for receiving the container in the empty state at a first vertical level (V1);- a discharging station (400) for discharging the container in the filled state at a second vertical level (V2);- a filling station (300) for receiving and filling articles (2) into the container (1) in the empty state in between the first and second vertical levels while the container opening (1 .5) faces sideward for receiving articles into the container; and- a container transfer handler (100) for receiving and taking the container (1) in the empty state at the receiving station (200), holding and transferring the container in the empty state in a vertical direction from the receiving station to the filling station (300) and presenting the container opening (1.5) facing sideward at the filling station for filling of the container with articles through the container opening, holding and transferring the container in the filled state in a vertical direction from the filling station to the discharging station (400), and releasing the container in the filled state at the discharging station, wherein the container transfer handler comprises-- a first transfer gripper (110) for gripping the container at the receiving station, holding and transferring the container from the receiving station to a take-over area (Vto) in between the first and second vertical levels (V1 , V2), and for presenting the container opening facing sideward at the take-over area; and-- a second transfer gripper (120) for gripping the container at the take-over area (Vto) to take over the container from the first transfer gripper (110), holding and transferring the container from the take-over area to the discharging station (400), and releasing the container in the filled state at the discharging station, wherein the first and second transfer grippers are configured to move in an at least substantial vertical direction.

2. The apparatus according to claim 1 , comprising a first linear movement mechanism configured to move the first transfer gripper and / or a second linear movement mechanism configured to move the second transfer gripper.

3. The apparatus according to claim 1 or claim 2, wherein the receiving station comprises a first pivoting gripper (221) configured for gripping the container and pivoting the containerabout a vertical axis to present the container opening (1.5) in a direction associated with a sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler (100) from the receiving station to the filling station, the first pivoting gripper (221) preferably configured for gripping the container (1) at the container bottom (1 .2) and / or at a container side panel.

4. The apparatus according to any one of the preceding claims, wherein the receiving station comprises a second pivoting gripper (222) for gripping the container and pivoting the container about a horizontal axis to present the container opening (1 .5) in a direction associated with a sideward facing direction (Ds) of the container opening when filling the container with articles through the container opening at the filling station (300) when transferred by the container transfer handler (100) from the receiving station to the filling station, the second pivoting gripper (222) preferably configured for gripping the container (1) at the container bottom (1 .2).

5. The apparatus according to any one of the preceding claims, wherein the second transfer gripper is configured to rotate the container (1) from a position having the container opening (1 .5) facing sideward for filling the container with articles at the filling station (300) to a position of the container having the container opening (1.5) facing upward and the container bottom (1 .2) facing downward for presenting the container in the filled state with the container bottom on a container support of the discharging station (400).

6. The apparatus according to any one of the preceding claims, wherein the receiving station comprises a container supply conveyor (210) comprising a retractable end stop 211 and a container pusher 212.

7. The apparatus according to any one of the preceding claims, wherein the container transfer handler comprises an adjustable back plate 150 adapted to support the container bottom during filling of the container with articles at the filling station.

8. The apparatus according to any one of the preceding claims, wherein the discharging station comprises a pivot plate (450) arranged to at least partially cover the container opening (1.5), and configured for pivoting together with the container while the container is being rotated by the second transfer gripper (120) to at least partially cover the container opening while being rotated to the position having the container opening facing upward.

9. The apparatus according to any one of the preceding claims, wherein the take-over area (Vto) is associated with the filling station (300).

10. The apparatus according to any one of the preceding claims, wherein the first vertical level (V1) is at a larger height than the second vertical level (V2).11 . The apparatus according to any one of the preceding claims, wherein one or both of the first and second transfer grippers comprises a suction arrangement for gripping the container by suction action, the suction arrangement preferably comprising one or more suction cups.

12. The apparatus according to any one of the preceding claims, comprising a container discharge conveyor (430) for conveying and discharging the container (1) in the filled state, wherein a container discharge direction (Dd) is preferably opposite a direction associated with the sideward facing direction (Ds) of the container opening (1.5) when filling the container with articles through the container opening at the filling station (300).

13. The apparatus according to any one of the preceding claims, comprising an article supply conveyor (310) for conveying and supplying articles (2) to the filling station (300), wherein an article supply direction (Da) is preferably opposite a direction associated with the sideward facing direction (Ds) of the container opening (1.5) when filling the container with articles through the container opening at the filling station (300).

14. The apparatus according to any one of the preceding claims, comprising an article pusher (340) for pushing articles into the container (1) provided by the container transfer handler (100) at the filling station (300) for filling the container with articles (2).

15. The apparatus according to any one of the preceding claims, wherein the filling station comprises a retractable slide plate (350) configured to transfer articles into the container through the container opening at an article transfer level (Vtr).

16. The apparatus according to any one of the preceding claims, comprising a container flap opener (240) configured to fold container flaps connected to respective container side panels along the container opening into a position transverse to a respective container side to which the container flap is connected, the container flap opener preferably arranged at the first vertical level (V1) or in between the first vertical level and a vertical level associated with the filling station.

17. A method for filling a container (1 ) in an empty state with articles (2) through a container opening (1.5) of the container while the container opening faces sideward to provide the container in a filled state filled with articles, wherein the container has a container bottom (1 .2) opposite the container opening and has mutually adjacent container side panels (1.1) adjacent the container bottom and the container opening, the method comprising:receiving the container in the empty state at a first vertical level (V1) at a receiving station; taking the container in the empty state from the receiving station with a container transfer handler and transferring the container in a vertical direction to a filling station arranged in between the first vertical level and a second vertical level (V2), wherein the container opening is presented facing sideward at the filling station for filling of the container with articles through the container opening, receiving and filling articles into the container at the filling station; transferring the container in a filled state in a vertical direction from the filling station to a discharging station at the second vertical level, and discharging the container in the filled state from the discharging station at the second vertical level, wherein the container transfer handler comprises a first transfer gripper (110) configured to grip the container at the receiving station, to hold and transfer the container from the receiving station to a take-over area (Vto) in between the first and second vertical levels (V1 , V2), and to present the container opening facing sideward at the take-over area and a second transfer gripper (120) configured to grip the container at the take-over area (Vto) to take over the container from the first transfer gripper (110), to hold and transfer the container from the take-over area to the discharging station (400), and to release the container in the filled state at the discharging station, the first and second transfer grippers configured to move in an at least substantial vertical direction.

18. The method according to claim 17, wherein filling articles into the container at the filling station comprises grouping articles into an article group and providing the article group into the container.

19. The method according to claim 17 or claim 18, wherein filling articles into the container at the filling station comprises projecting a slide plate into the container, providing a layer of articles over the slide plate into the container, retracting the slide plate, and moving the container downward a distance corresponding to a height of the layer of articles.

20. The method according to claim 19, further comprising projecting the slide plate into the container after moving the container downward and thereafter moving the container upward a fraction of the distance corresponding to the height of the layer of articles to compress the layer of articles in the container before providing another layer of articles over the slide plate into the container.

21. The method according to any one of claims 17 to 20, wherein during filling (a) the container is held by one or both of the first transfer gripper and the second transfer gripper and / or (b) take-over from the first transfer gripper to the second transfer gripper takes place.

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