Method for moving containers in a line for processing containers and corresponding processing line

Abstract

A method for moving containers (C) in a processing line (10) comprising a station (11) for storing and picking up containers (C) and a station (12) for at least filling the containers (C), the method comprising: providing, at the storage and pick-up station (11), a container-holding tray (15) containing a plurality of containers (C), the plurality of containers (C) being arranged inverted in the container-holding tray (15) relative to their mouths (43); and subsequently inverting the containers (C) with the aid of an inverting means (20) so as to invert the orientation of the containers (C) and make them available with their mouths (43) facing upwards so that they can be picked up by a removal means (22).

Description

[Technical Field]

[0001] The present invention relates to a method for moving containers along a processing line that may comprise a plurality of processing stations, including, for example, at least one storage station, a station for filling and possibly weighing the containers, and a subsequent station for capping the containers. The present invention also relates to a processing line that is suitable for carrying out the above method.

[0002] These containers are held and / or temporarily housed on suitable support means, in particular both when the containers are empty and when the containers are filled with at least one product or substance.

[0003] The term "product" or "substance" means any liquid, semi-solid, gel, or solid composition, which may be powdered or granular, and may be of plant, and / or animal, and / or chemical origin.

[0004] By way of non-limiting example only, the method according to the present invention can be used in the pharmaceutical, cosmetic, healthcare, chemical and / or food sectors. [Background technology]

[0005] In the industrial sector of automatic container filling, there are conventionally various devices or machines configured as process lines, in which one or more containers are moved to or from one or more processing stations, which are advantageously arranged in succession. An example of such a process line is described in DE 10 200 043 132 A1.

[0006] The processing stations may include, for example, a storage station for empty containers, one or more weighing stations, a station for filling the containers, a station for closing each container, and a station for packaging the filled containers in preparation for delivery of the finished product or storage in a warehouse.

[0007] The container in question may be a flask, for example a bottle, or in any case a container of similar or equivalent shape, capable of containing fluid products, in particular liquids, or solid and powder or gel products.

[0008] Movement of containers between processing stations, and sometimes within processing stations, is typically performed using mechanical and motorized transport devices or conveying apparatuses, including, for example, conveyor belts, turntables or carousels, gears, chains, slides, lifters, mechanical arms, sometimes robotic members, and other mechanical members.

[0009] Regardless of the type of conveying device used, containers that can at least initially be positioned in the appropriate seats of the container-holding tray must be picked up, individually or in groups, by appropriate pick-up members for subsequent filling, weighing and closing operations.

[0010] The containers are typically placed inverted, head-down, on the container-holding tray, i.e., with their mouths facing downwards and positioned, for example, in corresponding seats on the container-holding tray. It should be noted that the container-holding trays typically reach the processing line, where they are sealed, for example, by a film, only after the containers placed inverted and contained therein have been subjected to a disinfection and / or sterilization procedure.

[0011] The containers are then inverted again so that the mouths are facing upwards and then picked up for transfer to the next processing station, such as a filling and possibly weighing station.

[0012] Accurately picking up containers and moving and positioning them during the various processing steps is of fundamental importance, but presents a variety of problems that have not yet been solved in the prior art.

[0013] Often, the containers are positioned relative to one another within the container-holding tray according to a so-called "quincunx" spatial configuration, whereby rows of containers are staggered with adjacent ones to optimize volume occupation.

[0014] While this spatial arrangement allows for maximizing the number of containers that can be placed in a container-holding tray, it also makes it difficult to pick up the containers, so that in the prior art, due precisely to the staggered arrangement between successive rows, only a small number of containers placed in the same row can be picked up at a time.

[0015] As a result, the subsequent steps of filling, possibly weighing and closing the picked-up containers are carried out on only a small number of containers at a time. This significantly increases the processing time for a given group of containers, since only a few can be moved at a time, reducing the overall productivity of the machine. Furthermore, this aspect significantly increases the number of moves, resulting in increased energy consumption, wear and overheating of the motorized units of the associated moving devices.

[0016] Therefore, there exists a need to develop a method for moving containers within a processing line that can overcome at least one of the drawbacks of the prior art. In particular, one object of the present invention is to complete a method for moving containers in a processing line, which allows for the picking up of multiple containers, for example from a container-holding tray, and in particular the moving of multiple containers picked up simultaneously from several parallel successive rows of that tray.

[0017] The applicant has conceived, tested and embodied the present invention to overcome the shortcomings of the prior art and to obtain these and other objects and advantages. [Prior art documents] [Patent documents]

[0018] [Patent Document 1] International Publication No. 2018 / 011748 Summary of the Invention

[0019] The invention is set forth and characterized in the independent claims, The dependent claims describe other features of the invention or variants on the main inventive idea. In accordance with the above objectives, some embodiments relate to a method for moving containers within a processing line that includes a station for storing and picking up the containers, and a station for filling and possibly weighing at least the containers.

[0020] According to one embodiment, the above-described method provides for providing a container-holding tray containing a plurality of containers at the above-described storage and pickup station, the plurality of containers being arranged on the container-holding tray so that they are positioned in a sequential order on the container-holding tray in accordance with a pattern defined by the positioning matrix, with their mouths facing the bottom wall of the container-holding tray.

[0021] The method also includes inverting such containers disposed within the container-holding tray by an inverting means including an inverting tray configured to mate with the container-holding tray so as to engage at least some of the containers according to the same pattern defined by the positioning matrix, such that the inverted containers are supported at their bottoms by the inverting tray.

[0022] According to some embodiments, the method also includes moving an ejection means relative to the inverting tray to pick up at least two containers arranged on two parallel consecutive rows of the positioning matrix from the inverting tray.

[0023] The removal means is moved in a pick-up direction on an approximately horizontal plane, so that as the removal means moves in the pick-up direction towards the container holding tray, it first encounters the first container to be picked up, and then encounters the second container to be picked up, i.e., the second container further downstream.

[0024] As a non-limiting example, of at least two containers to be picked up, the first container is positioned in a first row and the second container is positioned in a second row, and in the positioning matrix described above, the first row is outer than the second row with respect to the pick-up direction described above.

[0025] According to some embodiments, the method also includes, after the step of moving the removal means as described above, a step of moving the two containers picked up by the removal means towards at least a filling station.

[0026] This method advantageously allows for a larger number of containers to be moved at one time than could be moved with prior art methods, thus reducing the number of moves involved as well as overall move time and increasing productivity.

[0027] In particular, reducing the number of movements is advantageous because, in addition to reducing the operating time, this also entails reduced energy consumption, reduced wear and reduced overheating of the motorized units of the associated movement devices, which is even more advantageous when the movements are carried out, for example, by automatic or robotic devices.

[0028] According to another aspect of the present invention, there is provided a line for processing containers, comprising a station for storing and picking up containers and a station for at least filling and optionally weighing the containers. The storage and pick-up station is provided with a container-holding tray on which a plurality of containers can be pre-positioned with their mouths facing a bottom wall of the container-holding tray according to a pattern defined by a positioning matrix. The storage and pick-up station is also provided with an inverting means including an inverting tray configured to invert at least some of the containers disposed in the container-holding tray and maintain them supported at their bottoms by the inverting tray according to the pattern defined by the positioning matrix.

[0029] The processing line as described above includes a take-out means configured to be reciprocally movable relative to the inverting tray as described above in a pickup direction lying on a substantially horizontal plane. According to one embodiment, such removal means are adapted to pick up at least two containers arranged on two parallel successive rows of a positioning matrix from the inverting tray, a first container being positioned in the first row and a second container being positioned in the second row, the first row being upstream of the second row with respect to movement towards the container-holding tray in the pick-up direction, and the removal means are adapted to move such at least two containers towards at least the filling station after they have been picked up by the removal means.

[0030] According to one embodiment, such pick-up direction is transverse to the respective rows of containers in the positioning matrix. These and other aspects, features and advantages of the present invention will become apparent from the following description of some embodiments, given by way of non-limiting example with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0031] [Figure 1] 1 is a schematic top view of a line for processing containers, in which a method for moving containers according to some embodiments described herein is performed at least between a station for storing and picking up containers and a station for filling and weighing containers. [Figure 2] 10 is a perspective view showing the supply of container-holding trays provided with containers inside the storage and pick-up station and their cooperation with the turning means; FIG. [Figure 3] FIG. 10 is a perspective view showing the inversion of a container inside a storage and pick-up station. [Figure 4] 10 is a perspective view showing the pick-up of a container located on a reversing tray by a removal means inside the storage and pick-up station; FIG. [Figure 5] 10A-10C are side cross-sectional views of a series of operational steps performed within a storage and pickup station. [Figure 6] 10A-10C are side cross-sectional views of a series of operational steps performed within a storage and pickup station. [Figure 7] 10A-10C are side cross-sectional views of a series of operational steps performed within a storage and pickup station. [Figure 8] 10A-10C are side cross-sectional views of a series of operational steps performed within a storage and pickup station. [Figure 9] FIG. 10 is a top plan view of a dispensing gripper, illustratively supporting multiple containers. [Figure 9a] 10 shows an enlarged detail of FIG. 9. [Figure 10] 10 is a cross section taken along line XX in FIG. 9. [Figure 11] 1 is a perspective view of a support plate having a container positioned thereon that cooperates with an unloading means of a processing line according to some embodiments described herein; FIG. [Figure 12]1 is a schematic cross-sectional view of a support plate according to some embodiments described herein, with a container positioned thereon, for cooperation with a filling means of a processing line; [Figure 13] FIG. 10 is a top view of a support plate according to some embodiments described herein. [Figure 14] 1 is a perspective view of a support plate having a container positioned thereon that cooperates with a weighing means of a processing line according to some embodiments described herein; FIG. [Figure 15] 15 is a cross section along plane XV-XV of FIG. 14, with the addition of a filling means for the processing line. [Figure 16] 16A-16D show the support plate of FIG. 15 in different operating positions; [Figure 17] FIG. 10 is a perspective view of a support plate with a container positioned thereon, which cooperates with a weighing means of a processing line according to another embodiment; [Figure 18] 1 is a schematic top plan view of a weighing means according to some embodiments described herein. FIG. [Figure 19] 1 is a schematic side view, partially in cross section, of a weighing means according to some embodiments described herein; [Figure 20] 1 is a graph showing a trend of weight (y-axis) over time (x-axis) detected by a weighing means according to some embodiments described herein. [Figure 21] 10 illustrates the transfer of a container from a support plate to another support plate in another processing station located downstream. [Figure 22] 10 illustrates the transfer of a container from a support plate to another support plate in another processing station located downstream. DETAILED DESCRIPTION OF THE INVENTION

[0032] For ease of understanding, the same reference numerals have been used, where possible, to identify identical common elements in the figures, it being understood that elements and features of one embodiment may be advantageously incorporated in other embodiments without further specification.

[0033] Reference will now be made in detail to possible embodiments of the invention, one or more examples of which are illustrated in the accompanying drawings. Each example is provided by way of illustration of the invention and should not be construed as limiting the invention. For example, one or more features shown or described, while part of one embodiment, can be changed or employed on or in conjunction with other embodiments to produce yet another embodiment. It will be understood that the invention includes all such modifications and variations.

[0034] Before describing these embodiments, the inventors should also clarify that this specification is not limited in its application to the details of construction and the arrangement of components as set forth in the following description using the accompanying drawings. This specification is capable of providing other embodiments and of being obtained or carried out in various other ways. The inventors should also clarify that the phraseology and terminology used herein are for the purpose of description only and cannot be regarded as limiting.

[0035] The embodiments described in this specification using the accompanying drawings relate to a method for moving containers C in a line 10 for processing containers C, as well as to a line 10 for processing containers C, comprising at least one station 11 for storing and picking up containers C and at least one station 12 for filling and possibly weighing containers C (FIG. 1).

[0036] In this case, and in the rest of the specification, the filling and optional weighing station 12 can be understood as a filling-only station or as a filling and weighing station, of which the weighing can be carried out both before filling (tare) and also after filling (gross weight), or only after filling. In any case, the purpose of this weighing is to determine the net weight of the product being weighed into each container C; typically, if the tare weight of, for example, a single container C or of a group of containers C is known, the total weight is determined at the time the product is weighed into the same container C, from which the net weight of the weighed product can be calculated by difference.

[0037] Furthermore, when station 12 is a filling and weighing station, this expression can be used to refer both to the case where the filling and weighing station is equipped with weighing means and filling means that cooperate directly and are located close to each other, and also to the case where the filling and weighing station provides two zones or sub-stations that are distanced, separated or located far away from each other, the first of which is provided with weighing means for weighing the tare weight of the containers C, and the second of which is provided with filling and weighing means for filling each container C with the product to be weighed and weighing the amount thereof.

[0038] According to some embodiments described herein, we refer, by way of non-limiting example, to a type of container C, which can be better seen in, for example, FIG. 10 , configured as a flask or bottle capable of containing fluid products, in particular liquids, or solid and powder or gel products. In these possible embodiments, the container C has a neck 41 protruding from a containing body 42 and a mouth 43. The neck 41 has a protruding annular rim 44 at the top corresponding to the mouth 43, while at the opposite end there is a bottom end 45. It is clear that the container C can also have other shapes and sizes, and in some cases may not even be similar or equivalent to the shapes and sizes of a flask or bottle.

[0039] According to some embodiments, the storage and pickup station 11 includes or is associated with at least one container-holding tray 15. The container-holding tray 15 has a bottom wall 17. A predetermined number of empty containers C are pre-positioned on the container-holding tray 15 to form an ordered group of containers C according to a positioning matrix M1 (FIG. 2). The positioning matrix M1 is defined, for example, by the arrangement of containers C in the container-holding tray 15 according to a row and column pattern. In this case, and throughout the present specification, we may also use the term "row" to identify a line or column of containers C (see, for example, rows I and II in FIGS. 4 and 9), where row refers to a sequence of elements, in this particular case, containers C, that are aligned with one another. Due to this pattern, for example, containers C in one row are offset with respect to containers C in the adjacent rows, i.e., one element in one row is positioned in the space between two elements in the following and preceding rows. As a result, the spatial arrangement is optimized to ensure that the container-holding trays 15 accommodate as many containers C as possible. This spatial arrangement of containers C, which is specific to this sector, is also referred to in technical terms as a "quincunx" arrangement.

[0040] The container-holding tray 15 is provided with a plurality of support seats 16 (see FIGS. 5 to 7), which suitably reproduce the pattern of the positioning matrix M1. The support seats 16 can be defined, for example, by elements protruding from the bottom wall 17, or can be arranged or created on the bottom wall 17 of the container-holding tray 15 according to a predetermined spatial configuration, for example a "quincunx" arrangement. The container C is positioned inverted in the support seats 16 with the mouth 43 facing downwards, i.e., towards the bottom wall 17, and in particular rests, for example, on the bottom wall 17 (FIG. 5).

[0041] Each container C is first inverted and placed, for example, in a corresponding support seat 16. In the exemplary embodiment described herein, each support seat 16 has a closed bottom defined by a portion of a bottom wall 17.

[0042] The support seat 16 may be made hollow within the bottom wall 17 or may be bounded laterally by a peripheral bead that defines the shape of the support seat 16 and may protrude somewhat from the bottom wall 17 to allow correct positioning of the container C.

[0043] In the embodiment described herein, the support seats 16 are capable of defining a precise, defined space in which the containers C can be placed, but preferably do not provide any lateral support for the containers C. For example, in a "quincunx" arrangement, the containers C are not positioned in contact, but they are in close proximity to each other and are self-supporting to each other in the event of a collision.

[0044] The container-holding tray 15 may advantageously be provided with a plurality of continuous side walls 18, connected at their lower parts to the bottom wall 17, so as to define a closed periphery. The side walls 18 surround the containers C and laterally contain them. In the accompanying drawings, the side walls 18 are represented as defining a quadrilateral, for example a rectangle, but this form is provided as a non-limiting example, since the periphery bounded by the side walls 18 may also have other different forms according to requirements.

[0045] The container-holding tray 15 may be provided with a perimeter frame 19 connected to the sidewalls 18 and configured, for example, to facilitate gripping and manipulation of the container-holding tray 15. To this end, the perimeter frame 19 may have a fretted or stepped profile that flares outwardly from the sidewalls 18 and terminates with a substantially flat profile. The perimeter frame 19 may be configured to accommodate a closure film (not shown) that adheres to the perimeter frame 19 to seal the container-holding tray 15.

[0046] In some embodiments, the storage and pickup station 11 comprises an inverting means 20 including an inverting tray 20a configured to couple with the container-holding tray 15. The inverting means 20 may also include specific moving means 38 suitable for moving the inverting tray 20a as needed, as described below. The inverting means 20 is configured to invert at least some of the containers C arranged in the container-holding tray 15 and keep them supported at their bottoms by the inverting tray 20a, even after inversion, according to a pattern defined by the positioning matrix M1. In particular, the inverting tray 20a is configured to engage with some or all of the containers C arranged in the container-holding tray 15 and, in cooperation with the container-holding tray 15, to invert the spatial orientation of the containers C so that they are supported by the inverting tray 20a with their mouths 43 facing upward.

[0047] According to some embodiments, and with particular reference to the accompanying drawings, the inverting tray 20a is configured, for example, as an inverting plate and is provided with a plurality of inverting seats 21 arranged relative to one another according to a configuration defined by a positioning matrix M1 and configured to receive corresponding containers C and support them against their bottom ends 45.

[0048] The inverted seat 21 can be made to fit within the thickness of the inverted tray 20a and can advantageously have a depth that allows for lateral support of the container C when the container C is positioned within the inverted seat 21. In the embodiment described herein, the inverted seat 21 has a circular cross section that follows the substantially cylindrical shape of the container C. The inverted seat 21 can have a lateral size that is slightly larger than the lateral size of the container C to allow for stable positioning of the container C, but with some play to facilitate subsequent pick-up of the container C.

[0049] The processing line 10 also includes an unloading means 22 configured to engage at least a portion of a container C disposed on the inverting tray 20a. The removal means 22 are configured to be reciprocally movable relative to the turnover tray 20a in a pick-up direction W (FIGS. 4 and 9). According to a possible embodiment, this pick-up direction W can be transverse, more particularly perpendicular, to the respective rows of the containers C of the positioning matrix M1. In this particular case, the pick-up direction W can be transverse, more particularly perpendicular, to the periphery of the turnover tray 20a, which is defined by the respective side walls.

[0050] In some embodiments, the removal means 22 is adapted to pick up from the reversing tray 20a at least two containers C arranged on two parallel consecutive rows I, II of a positioning matrix M1, of which a first container C1 is positioned in the first row I and a second container C2 is positioned in the second row II, in the positioning matrix M1, the first row I being outer than the second row II in the pick-up direction W (see, for example, Figures 4 and 9).

[0051] According to some embodiments, the removal means 22 includes or is configured as a removal gripper 22a provided with a plurality of spaced apart arms or prongs 23, preferably having an elongated longitudinal shape, that are parallel to one another and define a gripping receptacle 24 (FIG. 9).

[0052] The removal means 22 may include or be associated with a particular one of the moving means 38 suitable for moving the removal gripper 22a according to requirements, as will be described below.

[0053] Each gripping receptacle 24 of the dispensing gripper 22 is configured to receive a plurality of containers C in a group of sequentially arranged containers C. According to a possible embodiment, the removal means 22 is configured to perform at least a first relative movement of engagement with the inverting tray 20a on a substantially horizontal plane in order to engage with at least a portion of the group of containers C arranged in the inverting seats 21 of the inverting tray 20a, thereby engaging and holding the containers C in the gripping receptacles 24 of the removal gripper 22. In particular, the removal means 22 is configured to pick up containers C from at least two parallel consecutive rows I, II of containers C. Alternatively, it is not excluded that the first relative movement as described above can be achieved by moving the inverting tray 20a relative to the removal gripper 22a.

[0054] Preferably, the pick-up gripper 22a is configured to simultaneously pick up two or more containers C, particularly three or more, and more particularly four or more, or even all of the containers C, from one row I in order to reduce processing time, movement time, and the number of movements. It is also possible to simultaneously pick up two or more containers C, particularly three or more, and more particularly four or more, or even all of the containers C, from one consecutive row II parallel to row I. While pick-up from two rows I and II is described here, it is clear that the present invention can be applied to pick up containers C from three or more rows, for example, three, four, five, six, or even seven or more, or even from all of the rows of the invert tray 20a.

[0055] The removal gripper 22a is also configured to perform at least a second relative movement with respect to the inversion tray 20a so as to remove from the inversion tray 20a a container C positioned in the inversion seat 21 in order to move it to the next processing station, in this particular case the filling and possibly weighing station 12. In a possible implementation, for this purpose the removal gripper 22a can be moved in a lifting movement, or alternatively the removal gripper 22a can be kept stationary and the inversion tray 20a can be moved, in particular in a downward movement.

[0056] As described above, the removal gripper 22a can be moved by a movement means or movement device 38 associated with the removal gripper 22a, which allows both relative movement of the removal gripper 22a with respect to the container C to be engaged and picked up when the removal gripper 22a moves relative to the inversion tray 20a, and also movement of the container C within space to reach the filling and optionally weighing station 12.

[0057] According to some embodiments, at least during the first relative movement of engagement, the removal gripper 22a is configured to be operatively aligned with the rows or columns of the positioning matrix M1 of the invert tray 20a so that the gripping receptacles 24 each at least partially accommodate a row of containers C to be inserted into the gripping receptacles 24, as shown in FIG. 9.

[0058] According to some embodiments, each arm 23 includes an array of holding seats 25 for containers C arranged in a manner corresponding to the positioning matrix M1, each holding seat 25 being shaped to support a corresponding container C (Figure 9a).

[0059] According to some embodiments, the retrieval gripper 22a includes a lateral support 26 from which extends, in a direction substantially perpendicular to the lateral support 26, an arm 23 on one side and a gripping portion or handle 27 on the other side, by which the retrieval gripper 22a can be manipulated, for example, by an automated or robotic transfer device.

[0060] According to some embodiments, each gripping receptacle 24 is defined between two adjacent arms 23 and may be substantially U-shaped, preferably elongated. According to a possible embodiment, each arm 23 has an engagement end 28 which may advantageously have a flared or recessed shape to facilitate alignment and centering of the container C to be engaged.

[0061] According to some embodiments described herein, when the container C is engaged by the arms 23 of the removal gripper 22a, it is held according to a mechanical connection with play. According to some embodiments shown in Figure 9a, each holding seat 25 comprises corresponding support portions 29 facing each other from either side of the same gripping receptacle 24, each support portion 29 being made hollow on the corresponding arm 23 for receiving and placing a container C thereon, as shown in Figure 10. In particular, the support portions 29 are able to support the neck portion 41, in this particular case the protruding annular rim 44 of the container C, during use (Figure 10).

[0062] Each support portion 29 may have an arcuate shape or the shape of a portion of a polygon, for example an octagon, hexagon, square, or other polygon, or may be defined by a surface bounded by a curve.

[0063] According to some embodiments, the filling and optionally weighing station 12 may include or be associated to cooperate with support means, in particular a support plate 30, configured to receive the container C from the removal means 22, in this particular case from the removal gripper 22a, and to support the container C at least during the filling and optionally weighing operations.

[0064] Furthermore, the filling and optionally weighing station 12 may include a filling means 40 (visible only in Figures 12, 15 and 16 for ease of representation), such as a nozzle or similar delivery / metering means, configured to fill each of the containers C with a measured amount.

[0065] For example, FIG. 12 shows some embodiments in which a support plate 30 positions a container C relative to a filling means 40 . In some embodiments, the filling and optionally weighing station 12 may be a filling and weighing station and for this purpose may include weighing means 33. In this case, the support means may also be used to support the container C during the weighing operation carried out by the weighing means 33 present in the filling and weighing station.

[0066] 15 and 16 therefore show some embodiments providing weighing, where the support plate 30 positions the container C relative to the filling means 40 and also relative to the weighing means 33. Alternatively, it is also possible to use the removal means 22 directly for this purpose.

[0067] In both cases, the advantage of being able to move multiple containers C is clear, especially if weighing is also provided, which, after appropriate inversion within the inversion tray 20a, are picked up from the container holding tray 15 by a removal means 22, advantageously provided with removal grippers 22a, and moved by the support plate 30 or the removal means 22 itself, and then the containers C are filled and weighed by a weighing means 33 described in this specification.

[0068] In some embodiments that provide weighing, the containers C can be weighed first when they are empty (tare) and then subsequently when they are full (gross weight). Alternatively, they can also be weighed only when full, i.e., after filling.

[0069] It should be noted that the weighing operations before and after filling may possibly also be carried out in specific operating units different from each other and from the filling unit, which operating units are separated and possibly linked to each other by suitable movement means, for example by moving the take-out gripper 22a itself or, if provided, the support plate 30. For example, if the filling unit is separate from the weighing unit and separated upstream and / or downstream from it, or also in other cases where required, it may be necessary in the filling unit to align the containers C to be filled, supplied by the take-out gripper 22a, with the array of filling means 40 aligned according to a given direction.

[0070] Furthermore, in some cases, it is possible to provide a weighing station dedicated to measuring the weight of empty containers C and another weighing station dedicated to measuring the weight of containers C filled with product or substance. Also, in these embodiments, the support plate 30 or the removal gripper 22a can be used to move and position the containers C.

[0071] According to an embodiment in which the support means is configured as a support plate 30, the support plate 30 is provided with a plurality of support seats 31 which are arranged relative to one another according to a configuration defined by the positioning matrix M1 in order to receive groups of containers C moved by the removal gripper 22a.

[0072] In particular, in this case, the removal gripper 22a performs a first alignment movement relative to the support plate 30 to align the container C with the underlying support seat 31 vertically with respect to the positioning matrix M1. Furthermore, the removal gripper 22a is also configured to perform a second movement such that the container C is inserted into the support seat 31 (FIG. 11), and then to retract to disengage the container C, so that the container C remains accommodated by the support seat 31 of the support plate 30. Alternatively, it is also possible to move the support plate 30 relative to the removal gripper 22a.

[0073] The support seat 31 can be made to fit within the thickness of the support plate 30 and can have a depth to allow lateral support of the container C when the container C is positioned therein. In the embodiment described herein, the support seat 31 has a circular cross section that follows the substantially cylindrical shape of the container C. The support seat 31 can have a lateral size that is slightly larger than the lateral size of the container C to allow stable positioning of the container C, but with some play to facilitate subsequent pick-up of the container C.

[0074] In embodiments in which weighing is also provided, using the support plate 30 as a means for cooperating the container C with weighing means 33, each support seat 31 has an opening 32 on its bottom surface that is shaped to allow cooperation with the weighing means, which are also suitably shaped (Figures 13, 15 and 16). For example, the shaped opening 32 may have a configuration in which three angled arms extend from a central zone, for example the arms being equally angled at about 120° relative to each other, and in particular may assume the shape of a three-pointed star.

[0075] On the other hand, if no weighing is provided, according to some embodiments the support plate 30 may not have shaped openings 32, as in FIG. 12 for example. In some embodiments, which can be combined with all embodiments described herein, the weighing means 33 (FIGS. 14, 15, 16, 17, 18, and 19) includes at least one scale 33a and at least one corresponding scale plate 34 associated with the at least one scale 33a. The at least one scale 33a may include, for example, a load cell or other weight detector. A corresponding scale plate 34 is mounted on the at least one scale 33a. At least one container C is positioned on the scale plate 34, in particular in a corresponding receiving seat 34a of the scale plate 34, in order to carry out weighing in each case. For this purpose, at least one weighing plate 34 can be shaped or adapted according to the requirements, for example, to have a single receiving seat 34a for weighing only one container C at a time (Figures 14, 15, 16 and 17), or to have multiple receiving seats 34a, and therefore for weighing multiple containers C supported by the same weighing plate 34 (Figures 18 and 19), as will be better explained below.

[0076] 14, 15, 16, and 17, the weighing means 33 includes a plurality of weighing units 33a and a corresponding plurality of weighing plates 34, each operatively connected to a corresponding weighing unit 33a. For example, the weighing plates 34 can be arranged to cooperate with one, two, or more rows of containers C fed by the support plates 30 for the purpose of weighing the containers C without removing them from the corresponding support seats 31 in which they are housed.

[0077] 14, 15, 16, and 17, each weigher 33a is used at a time to weigh a single container C that is appropriately positioned on a corresponding weighing plate 34. In particular, in these embodiments, the weighing plate 34 is adapted to have a single receiving seat 34a capable of receiving one container C at a time.

[0078] 14, 15 and 16 further show an embodiment in which the number of weighing devices 33a, and therefore the number of corresponding weighing plates 34, is less than the number of containers C provided on the support plate 30 or alternatively on the removal gripper 22a, which are arranged on two offset rows (e.g., in a "quincunx") in a manner that is in particular coordinated with the offset arrangement of two consecutive rows of the positioning matrix M1 defined by the support plate 31. However, it is not excluded that the weighing plates 34 are arranged in register or according to other spatial configurations.

[0079] On the other hand, Figure 17 shows an embodiment in which independent weighing plates 34 are provided, each arranged on a corresponding weighing scale 33a according to a configuration defined by the positioning matrix M1, in which the number of weighing scales 33a, and therefore the number of corresponding weighing plates 34, corresponds at least to the number of containers C present in two separate rows, for example rows I and II, or more generally to some or all of the number of containers C supported by the support plate 30, so that in a single movement, all of the containers C can be removed from the corresponding support seats 31 in which they are housed and weighed without having to be operated individually or row by row.

[0080] In the embodiment described herein, which applies both to that described in relation to Figures 14 to 16 and to that described in relation to Figure 17, the support plate 30 is configured to perform at least a first alignment movement relative to the weighing means 33 (Figure 15) so as to align the shaped openings 32 with the weighing plates 34 vertically with respect to the positioning matrix M1. In this case, each weighing plate 34 is advantageously shaped to have a shape that fits into the shape of the corresponding shaped opening 32. Furthermore, the support plate 30 is also configured to perform a second movement (Figure 16) so that an appropriately shaped weighing plate 34 is inserted into the shaped opening 32 and engages with the container C, and then to rise again so as to disengage the weighing plate 34 from the corresponding shaped opening 32. 14, 15 and 16, this sequence of movements is repeated by progressively advancing the support plate 30 step by step relative to the weighing means 33 in coordination with the distance between the row of containers C and the weighing plates 34, so that all containers C present on the support plate 30 are positioned progressively in coordination with the row of weighing plates 34 on which they are to be weighed. On the other hand, in the embodiment of FIG. 17, this sequence of movements is carried out only once, since the presence of weighers 33a and corresponding weighing plates 34 in a number at least equal to the number of containers C makes it possible to weigh all containers C simultaneously.

[0081] According to another possible embodiment, which can be combined with all the embodiments described in this specification, the weighing plate 34 is movable and can be driven vertically to be inserted inside the shaped opening 32 in order to engage the container C. In this case, it can be provided that the support plate 30, after being aligned with the weighing plate 34, remains fixed in a suitable position that allows it to interact with the weighing plate 34, at least while remaining in the filling and optionally weighing station 12.

[0082] In the embodiments described herein where a tare weighing operation is provided, the present invention is particularly advantageous because it allows a greater number of containers C to be moved at once, thereby reducing the number of times that tare weighing of containers C is performed.

[0083] In particular, in an embodiment described using Figures 18 and 19 and which can be combined with all the embodiments described herein, the weighing means 33 may comprise one or more scales 33a, each having a weighing plate 34 provided with a plurality of receiving seats 34a. Each of these receiving seats 34a is advantageously adapted to receive a corresponding container C for the purpose of weighing the product introduced by the filling means 40. For example, the weighing means 33 may comprise a single scale 33a supporting a weighing plate 34 having a plurality of receiving seats 34a, or may comprise a plurality of such scales 33a, each of which is equipped with a weighing plate 34 having a plurality of positioning seats 34a.

[0084] 18 and 19, the number of receiving seats 34a per weighing plate 34 is advantageously two or more, for example, three, four, five, six, or even seven or more. These receiving seats 34a can also be arranged in several consecutive rows, depending on their number and operational requirements, and each row can then provide two or more, for example, three, four, five, six, or even seven or more, receiving seats 34a.

[0085] In the embodiment described using Figures 18 and 19, the receiving seats 34a are arranged in alignment, however, it is not excluded that the receiving seats 34a could also be arranged in a "quincunx" spatial configuration or other configurations. Depending on the arrangement of the receiving seats 34a provided in the weighing plate 34 described using Figures 18 and 19, the support plate 30 carrying the container C, or the removal gripper 22a if no support plate 30 is used, is appropriately moved relative to the weighing means 33 in a manner similar to that described above with reference to Figures 14, 15, 16 and 17, so as to achieve cooperation and alignment between the container C and the receiving seats 34a.

[0086] Advantageously, the weighing means 33 according to the embodiment described using Figures 18 and 19 makes it possible to significantly improve the efficiency of the weighing procedure, and therefore of the entire processing cycle, especially when the weighing also involves a step of weighing the tare.

[0087] Indeed, the weighing plate 34 being provided with a plurality of receiving seats 34a makes it possible to accommodate a plurality of containers C, each supported by a weighing plate 34 associated with a corresponding balance 33a.

[0088] Referring also to Figure 20, which shows a graph of the trend of weight (y-axis) over time (x-axis) detected by the scale 33a over time, it can be seen that the weight detected by the scale 33a at time t0, when all containers C are positioned in their corresponding receiving seats 34a and are empty, i.e., before filling, represents the weight of all empty containers C, i.e., the tare weight, or in any case, a reference value or zero weight. This tare weight is the initial weight value to which the subsequent operation of weighing the first container C being filled by the filling means 40 refers. In the graph of Figure 20, the tare weight is indicated by P0 at time t0.

[0089] Then, at time t1, a quantity of product is weighed into one of the containers C and weight P1 is detected, then at time t2, a quantity of product is weighed into another one of the containers C and weight P2 is detected, and so on, and these weight measurements are repeated incrementally a number of times "m" equal to the number of receiving seats 34a on each weighing plate 34, i.e., a number of times equal to the number of containers C to be filled and weighed on the same weighing scale 33a.

[0090] With the exception of the first weight detected upstream of the start of filling, which is the tare weight of all "m" containers C present in the receiving seats 34a of each weighing plate 34 associated with the corresponding scale 33a, all subsequent detected weights are gross weights. Thus, for example, the net weight of product weighed into a first container C being filled will be given by the difference between the detected gross weight P1 and the initially detected tare weight P0, while the net weight of product weighed into a second container C being filled will be given by the difference between the detected gross weight P2 and the preceding gross weight P1, and so on. Therefore, it can be stated that the gross weight detected in a given weighing operation, following an initial operation of taring a container C when it is empty, actually represents a reference weight from which, in subsequent operations of weighing gross weights, the net weight of the products weighed in that given subsequent operation is calculated.

[0091] Therefore, in some embodiments, the incremental determination of the weight of the product weighed into the container C by the filling means 40 in the first filling step is performed by the difference between the weight detected by the scale 33a in that first filling step and the tare weight of the container C initially detected by the scale 33a, and subsequently the incremental determination of the weight of the product weighed into the container C by the filling means 40 in each specific filling step following the first filling step is performed by the difference between the weight detected by the scale 33a in that specific filling step and the weight detected by the scale 33a in the immediately preceding filling step.

[0092] In general, the net weight N(i+1) of the product weighed into a given container C at an instant of time i+1 by the filling means 40 will be defined by the difference between the current weight P(i+1) detected by the scale 33a and the weight P(i) detected by the same scale 33a associated with the weighing at the previous time i, i.e. N(i+1)=P(i+1)-P(i), In the formula, i is a natural number greater than or equal to 0 and less than or equal to m, and m is the number of containers C placed and supported in the receiving seats 34a of the corresponding weighing plates 34 associated with the weighing device 33a.

[0093] Therefore, as a result of what has been explained above, the graph of Figure 20 can therefore be considered a "step-shaped" graph of weight against time, with each step representing an increase in weight detected by the scale 33a, and the substance of each step actually corresponding to the net weight of product weighed at a particular filling step, and therefore in some embodiments the weighing method described herein can be said to be a "step-type" weighing method.

[0094] Thus, in some embodiments, the method comprises: positioning a plurality of empty containers C in the receiving seats 34a, such that each container C is inserted, preferably in a stable manner, into a particular receiving seat 34a of a corresponding weighing plate 34 by the removal means 22 or by the support plate 30 into which the containers C have been transferred by the removal means 22; - weighing all the containers C present in the corresponding receiving seats 34a of the weighing plate 34 to carry out a total tare weighing; - filling each of the containers C in turn without repeating the tare weighing for a given group of containers C to be filled and weighed, i.e. without carrying out a tare weighing of each container C, and determining progressively at each step, i.e. after each filling, the weight of the product weighed into a particular container C by means of the scale 33a. This is carried out by subtracting the value of the total weight determined in the previous weighing from the total weight determined each time, in order to determine the weight of the product weighed into each container C, without removing the container from the weighing plate 34 after measuring the total tare.

[0095] If the weighing means 33 includes a plurality of weighing scales 33a, the step of carrying out a single weighing of the tare and the step of filling and weighing the containers C of each weighing plate 34 in turn can advantageously be carried out in parallel for each of the weighing scales 33a provided.

[0096] As mentioned above, for the purpose of determining the weight of the product weighed into a particular container C by the weigher 33a, after each filling step, the net weight N(i+1) of the product weighed by the filling means 40 at the instant of time i+1 is given by the difference between the weight P(i+1) detected at such instant of time i+1 and the weight P(i) detected at the preceding instant of time i.

[0097] 18 and 19 clearly show the advantages provided by the embodiments described using Figures 18 and 19, namely that it is possible to incrementally measure the gross weight for each of the containers C and derive the net weight N therefrom, because the tare weight is known and advantageously performed only once at the beginning of the weighing cycle, rather than individually for all "m" containers C. As a result, these embodiments do not require m-1 tare operations and m-1 movements of the containers C, which has considerable advantages in terms of time, less wear on the automated movement system used, less energy consumption, and less overheating.

[0098] Another advantage of the embodiment described using FIGS. 18 and 19 is that it achieves higher weighing accuracy than the prior art, in which each scale is provided with its own weighing plate, which has a single positioning seat for receiving the corresponding container to be filled and weighed. Indeed, using a single scale to weigh multiple containers C with their corresponding weighing plates 34 prevents the addition of multiple measurement errors, which, on the other hand, can occur when using multiple scales. Therefore, it is also possible to reduce errors by setting tare weighing accuracy thresholds for the various scales used. Furthermore, the embodiment of the method described using FIGS. 18 and 19 allows for a reduction in measurement errors, since fewer measurements are performed for the same number m of containers C to be weighed, reducing the probability of error. In particular, in the method described herein, m+1 measurements are actually performed to measure m net weights, taking into account the initial tare weight as well, whereas in the prior art method, this means measuring the tare and gross weight for each of the m containers. * m measurements are performed.

[0099] In any case, it should also be pointed out that the use of support means, in this particular case support plates 30, may be optional. Indeed, in a possible embodiment, the filling and possibly weighing of the containers C may be carried out directly by using the removal means 22, in particular the removal gripper 22a, and more particularly by moving the containers C, held in place, by the removal gripper 22a, in order to place them in cooperation with the filling means 40 and possibly the weighing means 33.

[0100] In the embodiment described herein involving the use of a weighing means 33 having a plurality of scales 33a, each having a corresponding weighing plate 34 adapted to a single receiving seat (FIGS. 14, 15, 16, 17) or to a plurality of receiving seats 34a (FIGS. 18 and 19), the advantages of transferring a plurality of containers C picked up from the container-holding tray 15, possibly even all of the containers present in the container-holding tray 15, after appropriate inversion in the inverting tray 20a, by the removal means 22, advantageously provided with removal grippers 22a, and by the support plate 30 or the removal means 22 itself, are clear. This advantage relates in particular to a reduction in the number of movements of the containers C involved in the weighing operations and therefore to an increase in the overall productivity of the processing line 10, a reduction in energy consumption, overheating and wear of the corresponding movement means.

[0101] According to some embodiments, the processing line 10 may include other processing stations 14 downstream of the filling and optionally weighing station 12, such as, for example, a station for closing or capping the containers C, a labeling station, a packaging station, or other stations configured to perform other operations.

[0102] Other processing stations 14 may require the container C to be supported in other support means suitable to enable the particular operation to be performed on the container C at a given station.

[0103] For example, a transfer of containers C from the support plates 30 to the subsequent processing station 14 can be provided by a reciprocating interaction between the support plates 30 and temporary removal means 35, and by subsequent delivery of the containers C from these temporary removal means 35 to another support plate 36 associated with the processing station 14. As mentioned, it is alternatively possible to use removal means 22 directly instead of the support plates 30.

[0104] By way of example only, the processing line 10 may therefore be provided with temporary removal means 35 (see FIGS. 1, 21, 22) having a configuration substantially similar to, or possibly the same as, that of the removal means 22 described above, in particular the removal gripper 22a. These temporary removal means 35 may be adapted to remove the containers C from the support plate 30 or from the removal gripper 22a, keep them properly positioned, and then deliver them to other support plates 36. The other support plates 36 may be provided with receiving seats 37 that are arranged relative to one another according to a configuration defined by the positioning matrix M1. The receiving seats 37 may or may not have perforated bottoms.

[0105] According to a possible embodiment, the processing line 10 also comprises a plurality of moving means 38, which are shown diagrammatically in Figure 1. The moving means 38 are arranged corresponding to at least the processing stations 11, 12 for moving in space at least the container-holding trays 15, the inverting trays 20 and the removal grippers 22, and possibly other support plates 36 or alternatively temporary removal means 35.

[0106] The moving means 38 may be selected from a group including an automated moving device, a robotic moving device, a magnetic moving device, or other known device, or a combination of these devices.

[0107] The filling and optionally weighing station 12 may include, be associated with, or be remotely connected to a command and control unit 50 (FIG. 1) configured to control and manage at least the functions of the filling and optionally weighing station 12.

[0108] For example, the command and control unit 50 can control and command the operation of the moving means 38 in particular in a manner consistent with a preset working cycle and / or a working cycle selectable in each case, and also as a function of the product to be weighed and the batch of containers C to be processed.

[0109] According to some embodiments, a method of moving a container C within a processing line 10 is also provided, the method comprising: - providing a container-holding tray 15 containing a plurality of containers C, the containers C being arranged on the container-holding tray 15 in a sequential order according to the row and column pattern defined by the positioning matrix M1, with the mouths 43 of the containers C facing downwards, i.e., towards the bottom wall 17, for example, to be placed on the container-holding tray 15; - inverting the containers C by means of an inverting tray 20a which engages with at least some or all of the containers C arranged in the container holding tray 15 in a sequential order according to the row and column pattern defined by the positioning matrix M1, wherein the inverted containers C are supported at their bottom by the inverting tray 20a, and cooperation between the inverting tray 20a and the container holding tray 15 makes it possible to invert the orientation of the containers C, so that at the end of the inversion, the containers C are supported at their bottom by the inverting tray 20a with the mouth 43 side facing upwards.

[0110] According to one aspect of the invention, the method also provides for moving removal means 22 in a pick-up direction W relative to the inverting tray 20a and, by moving these removal means 22, picking up at least two containers C arranged on two parallel consecutive rows I, II of the positioning matrix M1 from the inverting tray 20a.

[0111] Of these containers C, the first container C is positioned in the first row I and the second container C is positioned in the second row II, and in the positioning matrix M1, the first row I is outer than the second row II with respect to the pick-up direction W.

[0112] Picking up and transferring such a group of containers C, including at least a first container C and a second container C of two parallel successive rows as defined above, allows for faster transfers and generally reduces displacement of containers C between processing stations, transfer times, and number of transfers, reducing wear on moving parts, overheating, and energy consumption, and increasing the overall productivity of processing line 10. Indeed, in this way, all containers C located in container-holding tray 15 can be sufficiently picked up each time with fewer transfers.

[0113] The inverting tray 20a and the container-holding tray 15 can be held and moved by corresponding gripping and moving means 38 that can move the inverting tray 20a and the container-holding tray 15 in space according to a movement sequence, which can be, for example: - coupling the inverting tray 20a, in which the container C is placed upside down, with the container-holding tray 15, so that the support seat 16 of the container-holding tray 15 is aligned with the inverting seat 21 of the inverting tray 20a, with the inverting seat 21 facing downwards (Fig. 5); - coupling the reversing tray 20a and the container-holding tray 15 by moving them relative to each other, for example along a straight directrix, so that the container C is placed on the support seat 16 by the mouth 43 and abutted by the reversing seat 21 corresponding to the opposite bottom end 45 of the container body 42 (Fig. 6); - rotating the assembly of the inversion plate 20 and the container-holding tray 15 so that the container C is placed on the inversion seat 21 of the inversion tray 20a relative to the bottom end 45 of the container body 42 and is abutted by the support seat 16 of the container-holding tray 15 corresponding to the mouth 43 of the container C (Figure 7); - moving the inverting tray 20a and the container holding tray 15 relative to each other, for example along a straight directrix, to separate the inverting tray 20a and the container holding tray 15 so that the container C is placed on the inverting seat 21 of the inverting tray 20a and becomes available to be picked up by the removal gripper 22a.

[0114] Therefore, the removal gripper 22a performs at least a first relative movement of engagement with the inverting tray 20a (pickup direction W, FIGS. 4 and 9) to engage with at least some of the group of containers C arranged in the inverting seats 21 of the inverting tray 20a, thereby engaging and holding the containers C in the gripping receptacles 24 (FIG. 8). Alternatively, the inverting tray 20a can also be moved in accordance with the first relative movement of engagement with the removal gripper 22a.

[0115] Once the container C is engaged, a second relative movement, e.g., transverse, particularly perpendicular, to the pick-up direction W, can be performed between the removal gripper 22a and the inverting tray 20a to remove the container C from the inverting tray 20a. In a possible implementation, for example, the removal gripper 22a can also perform at least a second lifting relative movement with respect to the inverting tray 20a, transverse, particularly perpendicular, to the pick-up direction W, to remove the container C held in the gripping receptacle 24 from the inverting tray 20a to move the container C to a next processing station (FIG. 10). Alternatively, the removal gripper 22a can be kept stationary, and the inverting tray 20a can be moved transverse, particularly perpendicular, to the pick-up direction W, particularly downward.

[0116] Continuing thereafter, the method provides for moving the container C towards the filling and optionally weighing station 12, in particular towards the support plate 30, if provided, in order to place it in a corresponding support seat 31 of the support plate 30 (FIG. 11). The filling (FIG. 12) or the filling and weighing (FIGS. 14 to 17) can then be carried out, for example, using the support plate 30 (FIGS. 12 or 13), if provided, that is best suited for that purpose. In any case, the support plate 30 is adapted in such a way that the filling and optionally weighing of the container C is possible without the container C being removed and / or detached from the support plate 30 itself, with obvious advantages in terms of operating time and with fewer movements. As already explained above, it is also possible to use the removal gripper 22a directly as an alternative to the support plate 30.

[0117] If weighing is carried out before filling (tare weighing) and after filling as the case may be (see Figures 14 to 17 and Figures 18, 19), the support plate 30, if provided, is moved towards the weighing means 33, otherwise the removal gripper 22a can be used directly.

[0118] In the embodiment described using Figures 14 to 17, one or more rows of containers C present in the support plate 30 are aligned with corresponding scales 33a of the weighing means 33, such that the shaped openings 32 corresponding to one or more given rows of containers C to be weighed are aligned with corresponding weigh plates 34. The weigh plates 34 are shaped to pass through the shaped openings 32 and cooperate with the containers C to determine the weight of the containers C, or the weight of the product contained therein, after filling carried out by a suitable filling means 40 (Figure 16).

[0119] When one or more rows of containers C present in the support plate 30 are vertically aligned with the corresponding weigh plates 34, the support plate 30 and the weigh plates 34 perform a movement (FIG. 16) that brings them closer together so that the weigh plates 34 are inserted into the corresponding shaping openings 32 of the support plate 30 to perform the weighing operation, and a subsequent movement that moves them apart so that the weigh plates 34 are released from the corresponding shaping openings 32 of the support plate 30. In a preferred solution shown in FIGS. 15 and 16, the support plate 30 is movable, while the weigh plates 34 are fixed, and the support plate 30 moves toward the weigh plates 34 so that the weigh plates 34 are inserted into the corresponding shaping openings 32 of the support plate 30 to perform the weighing operation, and moves away from the weigh plates 34 so that the weigh plates 34 are withdrawn from the corresponding shaping openings 32 of the support plate 30. However, the inventors do not exclude embodiments in which the weighing plate 34 is vertically movable to engage the containers C through the shaped openings 32. In any case, in the above-described embodiments in which the support plate 30 is used for weighing purposes, the containers C can be partially or completely released from the support plate 30. In the case of complete release, it is meant that the underside of each container C rests on the upper side of the support plate 30.

[0120] As mentioned above, in another embodiment, instead of the support plate 30, the removal means 22, in particular the removal gripper 22a, is provided to move the containers C towards at least the filling station 12 so as to cooperate with the filling means 40 provided in at least the filling station 12, and to vertically align the rows of containers C present in the removal gripper 22a with the filling means 40. If at least the filling station 12 is also a filling and weighing station, the removal gripper 22a is also moved towards the weighing means 33 associated with the filling and weighing station. In this case, it is provided to vertically align the rows of containers C present in the removal gripper 22a with the corresponding weighing means 33 so as to align the containers C with the corresponding formed weighing plates 34 of the weighing means 33.

[0121] 18 and 19, on the other hand, the support plate 30, or alternatively the removal means, in particular the removal gripper 22a, moves a group of containers C to be filled and weighed to a weighing means 33 provided with a weighing plate 34 having a plurality of receiving seats 34a. In this case, several containers C, for example arranged along a row and advantageously equal to the number of receiving seats 34a, are positioned in the receiving seats 34a, after which a single weighing operation is carried out to weigh all the containers C present in the receiving seats 34a of the weighing plate 34 and determine the total tare weight. Subsequently, as described above with reference to FIG. 20, the filling means 40 gradually measures product into each of the containers C, measuring the weight each time. The above operations of positioning a group of containers C within the receiving seats 34a, initial tare weighing, progressive filling of each container C of a given group, and weighing the corresponding total weight to calculate by difference the net weight of the product weighed into a particular filled container C are repeated the same number of times as the number of rows of containers C to be weighed, or a number of times that is a submultiple of the number of rows of containers C to be weighed, also based on the number and arrangement of receiving seats 34a provided on the weighing plate 34 as described with reference to Figures 18 and 19.

[0122] Furthermore, it should be pointed out that in embodiments in which the removal means 22, in particular the removal gripper 22a, instead of the support plate 30, is used directly to move the container C, it is preferable that, for the purpose of weighing by the weighing means 33, the container C is suitably released from the removal gripper 22a during the weighing step itself so as not to distort its weight or transmit vibrations.

[0123] At the end of the filling and optionally weighing operation, it may be provided to transfer the filled and optionally weighed container C from the support plate 30 or from the removal gripper 22a to a subsequent processing station 14. In this way, the support plate 30 or removal gripper 22a without the container C may return to the previous filling and optionally weighing station 12 to receive another container C to be filled and optionally weighed. The transfer to the subsequent processing station 14 may be achieved through a reciprocating interaction between the support plate 30 or removal gripper 22a and a temporary removal means 35 (FIG. 21) and the subsequent delivery of the container C to another support plate 36 (FIG. 22) associated with the processing station 14. The support plate 30, or alternatively the removal gripper 22a, the temporary removal means 35, and the other support plate 36 may be moved relative to one another. For example, the temporary removal means 35 can be fixed, and the support plate 30, or removal gripper 22a, can be moved by suitable automatic movement means to engage the temporary removal means 35 and therefore determine the transfer of container C to the temporary removal means 35. At this point, when the support plate 30, or removal gripper 22a, moves away to return to the previous filling and optionally weighing station 12, in a similar manner, the other support plate 36 can be moved by suitable automatic movement means to similarly engage the temporary removal means 35 temporarily supporting container C and therefore determine the transfer of container C to the other support plate 36.

[0124] According to a possible embodiment, it is provided that, according to the method described, at least the container holding tray 15, the inversion tray 20a, the removal gripper 22a, optionally the support plate 30, and optionally another support plate 36, or alternatively the temporary removal means 35, are moved by an automated, e.g. human-type, robotic moving means.

[0125] Furthermore, according to other embodiments, the weighing methods described herein may include a step of checking or inspecting by optical acquisition means, in particular by image or video, to confirm the presence or absence of containers C and / or the correct number of containers C and / or the correct position of containers C.

[0126] For this purpose, at least one suitable optical inspection assembly 60, comprising, for example, a video camera or similar optical or video inspection means, can be provided, associated with the filling and optionally weighing station 12, and possibly also with the storage and pick-up station 11 ( FIGS. 1 , 4 , 11 , 12 , 14 , 15 , 16 , 17 ). The optical inspection assembly 60 can advantageously be connected to a command and control unit 50, supplying it with acquired signals that are processed to provide feedback on the checks performed; and optionally, the command and control unit 50 can, as a function of the result of the check, supply a signal or warning to an operator, whether an automated, robotic or human operator, for example of a possible missing container C or an incorrect positioning problem, so as to possibly intervene and resolve the problem.

[0127] The optical inspection assembly 60 can be suitably positioned above the target zone to be inspected, in which a group of containers C to be transported, filled, and possibly weighed is present, so that the field of view of the optical inspection assembly 60 can inspect this group of containers C.

[0128] In particular, this verification or inspection step can be performed in connection with the container C picked up by the removal means (Figure 4), or to verify the correct transfer of the container C from the removal means 22 to the support plate 30 (Figure 11), or also in connection with the placement of the container C on the weighing plate 34 (Figures 14, 15, 16, 17).

[0129] For example, according to one possible implementation, this verification step by the optical inspection assembly 60 can be performed when the removal means 22 picks up a group of containers C from the reversing tray 20a (see FIG. 4). In this case, the verification or inspection step can advantageously aim to verify whether the removal means 22 has picked up all of the containers C.

[0130] According to another embodiment, which can be combined with other embodiments described in this specification, when the containers C are transferred to the support plate 30 by the removal means 22, a verification or inspection step can also be performed in this case, for example to verify the presence of all containers C (see Figure 11).

[0131] According to yet another embodiment, which can also be combined with other embodiments described herein, when the removal means 22 or the support plate 30 positions the containers C on the corresponding weighing plates 34 of the weighing means 33, a verification or inspection step can be performed to ensure that all containers C are located in the corresponding positioning seats 34a (see Figures 14, 15, 16, 17). In this case, it is therefore advantageous to check for the presence of a picked-up container C on the corresponding positioning seats 34a in order to verify that no container C is missing. Possibly, this also makes it possible to verify the correct positioning of the container C relative to the positioning seats 34a in order to prevent the container C from being in an unfavorable position for weighing and / or filling.

[0132] It will be apparent that modifications and / or additions of steps and / or components may be made to the method of moving containers in a processing line, and the corresponding processing line, as hereinbefore described, without departing from the field and scope of the present invention, as defined by the claims.

[0133] Furthermore, although the invention has been described with reference to several specific embodiments, it is clear to a person skilled in the art that it is certainly possible to achieve many other equivalent forms of the method for moving containers in a processing line and the corresponding processing line, having the characteristics as claimed and therefore all falling within the scope of the field of protection defined by the claims.

[0134] In the following claims, the sole purpose of reference signs in parentheses is to facilitate reading and they should not be considered as limiting factors with regard to the field of protection claimed in a particular claim.

Claims

1. A method for moving containers (C) in a processing line (10), the processing line (10) comprising a station (11) for storing and picking up the containers (C) and a station (12) for at least filling the containers (C), the method comprising, in the storage and pick-up station (11), providing a container-holding tray (15) containing a plurality of said containers (C), the plurality of said containers (C) being arranged on said container-holding tray (15) so as to be positioned one next to the other in accordance with a pattern defined by a positioning matrix (M1) with the mouths (43) of the containers (C) facing a bottom wall (17) of said container-holding tray (15); inverting the container (C) placed on the container-holding tray (15) by an inversion means (20), the inversion means (20) including an inversion tray (20a), the inversion tray (20a) configured to couple with the container-holding tray (15) to engage at least a portion of the container (C) according to the pattern defined by the positioning matrix (M1), the inverted container (C) being supported at its bottom by the inversion tray (20a), the method also comprising: moving a removal means (22) relative to the inverting tray (20a) to pick up from the inverting tray (20a) two or more containers (C) arranged in two parallel successive rows (I, II) of the positioning matrix (M1), a first container (C1) of the two or more containers (C) being located in a first row (I) and a second container (C2) of the two or more containers (C) being located in a second row (II), the removal means (22) being moved in a pick-up direction (W) on a horizontal plane, so that, as the removal means (22) moves in the pick-up direction (W) towards the inverting tray (20a), the removal means (22) first encounters the first container (C1) to be picked up and then encounters the second container (C2) to be picked up further downstream in the pick-up direction (W); subsequently, moving the two or more containers (C) picked up by the removal means (22) towards at least the filling station (12).

2. 2. The method of claim 1, further comprising: performing at least a first relative movement of engagement of the removal means (22) with respect to the inversion tray (20a) on a horizontal plane to engage and hold in the removal means (22) at least a portion of the container (C) present on the inversion tray (20a), the method also providing a second relative movement of the removal means (22) with respect to the inversion means (20) to remove the container (C) held in the removal means (22) from the inversion tray (20a) in order to move the container (C) held in the removal means (22) towards the at least filling station (12).

3. 3. The method according to claim 1 or 2, wherein the removal means (22) moves the container (C) towards at least the filling station (12) cooperating with a support plate (30), the support plate (30) being provided with a number of support seats (31) into which the removal means (22) places the container (C).

4. 4. The method according to claim 3, wherein the support plate (30) carrying the containers (C) is moved towards a filling means (40) provided at at least the filling station (12) to vertically align the rows of the containers (C) present on the support plate (30) with the filling means (40).

5. said at least one filling station (12) being a filling and weighing station; The support plate (30) is also moved towards a weighing means (33) associated with the filling and weighing station, 5. The method according to claim 4, further comprising vertically aligning the rows of containers (C) present on the support plate (30) with the weighing means (33) so that each shaped opening (32) made in each support seat (31) of the support plate (30) is aligned with a corresponding weighing plate (34) of the weighing means (33) cooperating with the container (C) passing through the shaped opening (32).

6. When the row of containers (C) present on the support plate (30) is vertically aligned with each of the weighing means (33), the support plate (30) and the weighing plate (34) performing a first movement of the support plate (30) and the weighing plate (34) toward each other such that the weighing plate (34) is inserted into the respective shaping openings (32) of the support plate (30) to perform a weighing operation; 6. The method of claim 5, further comprising: subsequently performing a second movement of the support plate (30) and the weighing plate (34) away from each other such that the weighing plate (34) is released from the respective shaping openings (32) of the support plate (30).

7. 3. The method according to claim 1 or 2, wherein the removal means (22) moves the containers (C) towards at least the filling station (12) to cooperate with a filling means (40) provided at at least the filling station (12) and vertically aligns the row of containers (C) present at the removal means (22) with the filling means (40).

8. 8. The method according to claim 7, wherein the at least filling station 12 is a filling and weighing station, the removal means (22) is also moved towards a weighing means (33) associated with the filling and weighing station, and the method provides for vertically aligning the rows of containers (C) present in the removal means (22) with the respective weighing means (33) so as to align the containers (C) with corresponding weighing plates (34) of the weighing means (33).

9. 3. The method according to claim 1 or 2, wherein said at least filling station (12) is a filling and weighing station including a weighing means (33) comprising a weighing scale (33a) supporting a weighing plate (34), said weighing plate (34) being provided with a plurality of receiving seats (34a) each configured to receive and support a corresponding container (C).

10. The method comprises: positioning said container (C) in said receiving seat (34a) by said removal means (22) or by a support plate (30) into which said container (C) has been transferred by said removal means (22); weighing all the containers (C) present in the receiving seats (34a) of the weighing plate (34) to determine a total tare; - filling each of said containers (C) in turn and determining, after each filling step, by means of said weighing scale (33a), the weight of the product weighed into the particular container (C), which is carried out, after the measurement of the total tare, without removing said container from the weighing plate (34), in order to determine the weight of the product weighed into each container (C) by subtracting the value of the total weight determined in the immediately preceding weighing step from the total weight determined in each case; 10. The method of claim 9, comprising:

11. 11. The method according to any one of claims 1 to 10, wherein the removal means (22) comprises a removal gripper (22a) provided with a plurality of spaced apart arms (23) parallel to one another and defining a gripping receptacle (24), each of the arms (23) comprising an array of retaining seats (25) shaped to support a respective container (C), each retaining seat (25) comprising a respective support portion (29) facing one another from either side of a same gripping receptacle (24), the support portions (29) being recessed on the respective arms (23) in correspondence with a portion (44) of the neck (41) of the container (C) for receiving and resting the respective container (C) on said support portion (29).

12. The method according to any one of the preceding claims, providing for moving at least the container holding tray (15), the inversion tray (20a) and the removal means (22) by automated or robotic gripping and moving means (38).

13. A processing line for processing containers (C), comprising: a station (11) for storing and picking up said containers (C); a station (12) for at least filling said container (C), The storage and pick-up station (11) comprises: a container-holding tray (15) on which a plurality of containers (C) can be prepositioned with their mouths (43) facing a bottom wall (17) of said container-holding tray (15) according to a pattern defined by a positioning matrix (M1); and an inversion means (20) including an inversion tray (20a) configured to invert at least some of the containers (C) placed on the container-holding tray (15) in accordance with the pattern defined by the positioning matrix (M1) so that the inverted containers (C) remain supported at their bottoms by the inversion tray (20a), the processing line comprising: a take-out means (22) that is located on a horizontal plane and is configured to be reciprocally movable relative to the inversion tray (20a) in a pick-up direction (W); a first container (C1) of the two or more containers (C) located in a first row (I) and a second container (C2) of the two or more containers (C) located in a second row (II), the first row (I) being upstream of the second row (II) with respect to movement towards the reversing tray (20a) in the pick-up direction (W), and the removal means (22) being adapted to move the two or more containers (C) towards the at least filling station (12) after they have been picked up by the removal means (22).

14. 14. The process line according to claim 13, wherein said at least filling station (12) is a filling and weighing station including a weighing means (33) comprising a weigher (33a) supporting a weighing plate (34), said weighing plate (34) being provided with a plurality of receiving seats (34a) each configured to receive and support a corresponding container (C).

15. 15. A process line according to claim 13 or 14, wherein the removal means (22) comprises a removal gripper (22a) provided with a plurality of spaced apart arms (23) parallel to one another and defining a gripping receptacle (24), each of the arms (23) comprising an array of retaining seats (25) shaped to support a respective container (C), each retaining seat (25) comprising a respective support portion (29) facing one another from either side of a same gripping receptacle (24), the support portions (29) being recessed on the respective arms (23) in correspondence with a portion (44) of the neck (41) of the container (C) for receiving and resting the respective container (C) on said support portion (29).

Images