Apparatus and method for automatic packaging of containers

Abstract

An apparatus (10) for automatic packaging of containers (C) on a working path (L) with one or more containers (C) to be filled supported by corresponding trays (100). The apparatus (10) comprises at least a supply station (12) for sequentially supplying trays (100) on which the containers (C) are arranged, a filling unit (27) for sequentially performing a number of operations for filling the containers (C), a first robotic arm (19) capable of performing at least one programmed function for selectively transporting the trays (100) one by one towards the filling unit (27), and electronic control means (47). The apparatus (10) further comprises a second robotic arm (20) capable of autonomously performing the same programmed functions as the first robotic arm (19).

Description

[Technical field]

[0001] The present invention relates to an apparatus and a method for the automated packaging of containers, such as vials, bottles, flasks or other types of containers, which contain, in particular for filling and closing, fluid products, in particular liquid, solid or powdery products or gels. The above-mentioned examples of fluid products and containers are not limiting of the invention. For example, the apparatus can be used in the pharmaceutical, cosmetic, healthcare, chemical and / or food industries. [Background technology]

[0002] In the field of the automated packaging industry of containers, devices are known which comprise one or more work stations arranged on a work path along which the containers are moved in a sequence, said known devices being able to form part of more complex machines which further comprise other devices for processing said containers.

[0003] Containers are typically moved between the various work stations using traditional mechanical and motorized movement means or devices, including, for example, conveyor belts, gears, chains, slides and / or elevators, although devices that use anthropomorphic mechanical or robotic arms to move the containers are also known.

[0004] In particular, machines are known which comprise a first station for depositing or picking up empty containers, a second station for filling and closing the containers, e.g. with suitable caps, and possibly taring and / or weighing, and a third station for processing the containers for a subsequent dispensing step. Typically, the containers arrive at the first station supported by a suitable container-holding tray which is provided with a number of receiving placements suitable for receiving the containers.

[0005] The second station comprises a filling unit, a closing unit, a weighing unit and one robotic arm which moves the trays one by one between the units in order to cycle through filling, closing and possibly taring and / or weighing the containers.

[0006] Using a single robotic arm to move the trays is advantageous compared to traditional moving means or devices because it does not generate contaminating particles and the single robotic arm is easy to clean and sanitize, which is particularly advantageous when the device needs to operate in a clean, sterile or sterilized working environment.

[0007] One example of a container filling machine that uses a single robotic arm to move the trays is described in US Patent Application Publication No. 2016 / 0376044.

[0008] However, one of the disadvantages of using a single robotic arm is that as a tray moves, the other tray essentially stops upstream from the one robotic arm in order to fill, close and possibly tare and / or weigh the containers supported by that tray, waiting until all operations on the containers in the previous tray have been completed so that the robotic arm can pick up the other tray.

[0009] Thus, one must wait until all containers of one tray have been closed and delivered to the third station before starting a new cycle of work on the next tray using the same robotic arm, which results in lower productivity and profitability of the known system compared to technologies using traditional moving means and moving devices.

[0010] There is therefore a need for an apparatus for automated packaging of containers that overcomes at least one of the shortcomings of the prior art.

[0011] In particular, it is an object of the present invention to provide an apparatus and a method for automatic packaging of containers, which minimizes or completely eliminates downtime between filling, closing and, optionally, taring and / or weighing operations, particularly in a sterile, aseptic or sterilized working environment, including but not limited to the above specific examples of environments.

[0012] Another object of the present invention is to provide an apparatus for automated packaging of containers, and a method for automated packaging of containers, which allows maximizing productivity while achieving value equal to or greater than that achieved with traditional moving means and devices.

[0013] Another object of the present invention is to provide an apparatus for automatic packaging of containers, which can carry out at least the filling operation for a plurality of containers substantially continuously, i.e., continuously without pause, and preferably can also carry out the closing operation substantially continuously, i.e., continuously without pause, and to complete a method for automatic packaging of such containers.

[0014] Applicant has conceived, tested and embodied the present invention to overcome the shortcomings of the prior art and to achieve these and other objectives and advantages. Summary of the Invention

[0015] The invention is defined in the independent claims, which set out the particular features thereof.The dependent claims set out further features of the invention or variants of the main idea of ​​the invention.

[0016] In view of the above objects and also in order to achieve significantly greater advantages compared to the prior art, the apparatus of the present invention is an apparatus for automatic packaging of containers on a working path with one or more containers to be filled supported by corresponding transport members, comprising at least a supply station for sequentially supplying transport members on which the containers to be filled are arranged, a filling unit arranged downstream of the supply station on the working path and equipped with a filling means configured to sequentially perform several operations of filling the containers, a first robotic arm capable of performing at least one programmed function for selectively transporting the transport members one by one towards the filling means, and electronic control means for controlling the at least one filling unit and the first robotic arm.

[0017] In one aspect of the invention, the apparatus further comprises a second robotic arm capable of autonomously performing the same programmed functions as the first robotic arm for selectively transferring transport members one by one towards the filling means under the control of an electronic control means, and the operation of the first robotic arm and the second robotic arm are coordinated and controlled by the electronic control means so that while the first robotic arm is moving one transport member relative to the filling means, the second robotic arm independently and autonomously moves another transport member to position the other transport member next to the one transport member moved by the first robotic arm so that the other transport member is available for the filling means when filling of the container supported by the first transport member is completed, so that the filling of the container supported by the first and second transport members is carried out continuously with substantially no pause, i.e., eliminating or minimizing processing downtime.

[0018] Such a configuration has the advantage that the productivity is increased and maximized compared to the prior art, making it possible to achieve packaging of the order of 36,000 containers per hour.

[0019] In another aspect of the invention, the electronic control means is programmable and configured to control the actuation and spatial and temporal movement of the first and second robotic arms such that transfer of the transport member towards the filling means is continuous and uninterrupted as it passes from the first robotic arm to the second robotic arm.

[0020] In another aspect of the invention, the first robot arm and the second robot arm are controlled by the electronic control means to cause each of the transport members to follow a substantially similar, identical or mirror-reflected trajectory towards the filling means without interfering with each other.

[0021] In another aspect of the invention, the filling means comprises at least one delivery member provided with one or more delivery nozzles, the delivery member being disposed above the working path when in a filling or delivery working position, and the first robot arm and the second robot arm being disposed on opposite sides of the working path and positioned to cooperate with the delivery member from opposite sides.

[0022] In particular, both robot arms move their respective transport members relative to the filling means such that the transport members are parallel to the working path and coplanar with each other to substantially define the same working plane.

[0023] In another aspect of the invention, the filling means further comprises a robotic manipulator to one end of which the delivery member is interchangeably mountable so as to be adjustable depending on the specific operational requirements for filling or delivering the container.

[0024] In another aspect of the invention, the supply station comprises a moving means, preferably of robotic type, configured to transport the transport member on which the container to be filled is placed towards the first robot arm and the second robot arm.

[0025] In another aspect of the invention, the apparatus further comprises a closure unit operably associated with the filling unit, the closure unit comprising at least a supply means for supplying one or more closure elements towards the filled containers arranged on one of the transport members, and a closure means for sequentially closing the filled containers with the closure elements.

[0026] Further, the robotic arm is highly easy to clean and sanitize, thereby providing an advantage in that the risk of container contamination is minimized when moving containers, particularly in a clean, sterile or aseptic work environment. The above specific examples of work environments are not limited to these.

[0027] A method for automatic packaging of containers, with the containers supported by corresponding transport elements on a working path of an apparatus comprising at least a supply station with a filling means for performing a filling step of one or more containers to be filled and a first robot arm, is also completed, the method comprising at least a supply step of sequentially supplying the transport elements on which the containers to be filled are arranged from the supply station along the working path, and a first moving step of selectively transferring the transport elements one by one towards the filling means by the first robot arm so that the supported containers can be filled.

[0028] In one aspect of the invention, the method further includes a second moving step of autonomously transferring the transport members selectively from the first robot arm one by one toward the filling means so that a second robot arm can fill the supported container. The first moving step of moving the first robot arm and the second moving step of moving the second robot arm are coordinated and controlled so that while the first robot arm is moving one of the transport members relative to the filling means, the steps of filling the containers supported by the first and second transport members are performed consecutively with substantially no pause, i.e., to eliminate or minimize processing downtime, and the second robot arm independently and autonomously moves the other transport member to position the other transport member next to the one transport member moved by the first robot arm so that the other transport member can be available for the filling means when filling of the container supported by the first transport member is completed.

[0029] In another aspect of the invention, the method further comprises an initialization step of programming the electronic control means to control the actuation and spatial and temporal movement of the first robotic arm and the second robotic arm so as to effect continuous and uninterrupted transfer of the transport member towards the filling means.

[0030] In another aspect of the invention, the electronic control means controls the first robotic arm and the second robotic arm to cause each of the transport members to follow a substantially similar, identical or mirror-reflected trajectory toward the filling means without the first robotic arm and the second robotic arm interfering with each other.

[0031] In another aspect of the present invention, in the filling step, the filling means first fills containers placed on a first transport member moved by the first robot arm, and then continuously, substantially without a break, fills containers placed on a second transport member moved by the second robot arm.

[0032] In another aspect of the invention, the method further comprises a closing step after the filling step, in which a closure means sequentially closes the filled container with a suitable closure element.

[0033] These and other aspects, features and advantages of the invention are apparent from the following description of some embodiments, given as non-limiting examples, with reference to the attached drawings, in which: [Brief description of the drawings]

[0034] [Figure 1] 1 is a simplified schematic top view of an apparatus for packaging containers of the present invention; [Diagram 2] FIG. 2 is a three-dimensional exploded view of a moving platform onto which a tray containing containers of the device of FIG. 1 can be placed. [Diagram 3] 3 is a detailed cross-sectional view of some containers arranged on a tray placed on the moving stage of the apparatus of FIG. 2. [Figure 4] 2 is a simplified schematic diagram showing the operational sequence of the filling and closing steps of containers arranged on a tray of the apparatus of FIG. 1. FIG. [Diagram 5] 2 is a simplified schematic diagram showing the operational sequence of the filling and closing steps of containers arranged on a tray of the apparatus of FIG. 1. FIG. [Figure 6] 2 is a simplified schematic diagram showing the operational sequence of the filling and closing steps of containers arranged on a tray of the apparatus of FIG. 1. FIG. [Figure 7] 2 is a simplified schematic diagram showing the operational sequence of the filling and closing steps of containers arranged on a tray of the apparatus of FIG. 1. FIG. [Figure 8] 2 is a simplified schematic diagram showing the operational sequence of the filling and closing steps of containers arranged on a tray of the apparatus of FIG. 1. FIG. [Figure 9] 2 is a simplified schematic diagram showing the operational sequence of the filling and closing steps of containers arranged on a tray of the apparatus of FIG. 1. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] It should be made clear here that the scope of protection is defined by the claims, and therefore the role of the wording and terminology in this specification and the description of each figure in the accompanying drawings is only to facilitate the illustration and explanation of the present invention, and its function is to provide a non-limiting example of the invention itself.

[0036] For ease of understanding, wherever possible, the same reference numbers have been used to identify identical common elements among the figures, and it is understood that elements and features of one embodiment can be combined or incorporated into other embodiments as appropriate without further description.

[0037] 1, an apparatus 10 of the present invention is configured and usable for automatically packaging containers C, and in particular for at least filling and closing the containers C, on a working path L. In the embodiment shown in the figure, the working path L is linear, but in other embodiments not shown in the drawings, it may follow any suitable trajectory, including curved and / or multi-level trajectories.

[0038] The container C can be of any shape and size and can be a vial, bottle, flask or any other type of container capable of containing both fluid products P, particularly liquids, and solid or powdered products or gels, and the above specific container examples are not an exclusive list.

[0039] Before describing the device 10 and the corresponding method in detail, a brief description will be given of an example of a plurality of containers C (FIGS. 2 and 3) for better understanding, as a non-limiting example, which may consist of or include a certain number of containers C, for example about 100 containers C, each of which has the shape of a vial and can be used in the pharmaceutical, cosmetic, health, chemical and / or food fields. The plurality of containers C is adapted to be supported by a suitable container-holding tray 100, which in this example is constituted by a substantially parallelepipedal plate having a plurality of circular receiving and placing portions 101 formed therethrough, each of which is suitable for stably and temporarily supporting a corresponding one of the containers C. In particular, the receiving and placing portions 101 are arranged according to an arrangement matrix of a plurality of rows and columns, so as to form a series of parallel columns F (F1 to FU in FIG. 2) which are offset from each other by a certain constant distance D. It should be made clear here that the term "column" can be interpreted as any arbitrary row or column of the above arrangement matrix, depending on the orientation of the tray 100 relative to the direction of the working path L.

[0040] The machine 10 comprises a base 11 on which are arranged, in order from left to right in FIG. 1 along a working path L, a first station 12 or supply station in which trays 100, each containing a number of containers C that are still empty, are supplied and / or picked up from a loading position PL, a second station 13 configured to fill, close and possibly tare and / or weigh the containers C, and a third station 14 for organizing the filled and closed containers C for transmission to a subsequent distribution and / or packing step, e.g. to another machine or working station not shown.

[0041] Both the first station 12 and the third station 14, which are shown in dashed lines in Fig. 1 and have their boundaries drawn, may be any known or future developed station falling within the scope of protection of the present invention. For example, the first station 12 and the third station 14 may be similar to those described in the related patent application for industrial invention filed by or assigned to the applicant of the present patent application.

[0042] Along the work path L, each tray 100 containing multiple containers C moves using multiple moving means, including a first moving means 15 arranged at the first station 12, a second moving means 16 arranged at the second station 13, and a third moving means 17 arranged at the third station 14, which will be described in detail below.

[0043] In one aspect of the invention, at least the second movement means 16 comprises or consists of a first robotic arm 19 and a second robotic arm 20 of essentially known type.

[0044] In one embodiment of the invention, the first movement means 15 and the third movement means 17 may also comprise or consist of a plurality of robotic arms, in particular a third robotic arm 21 and a fourth robotic arm 22, it being understood that in other embodiments other suitable movement means may be used, such as, for example, conveyor belts, gears, chains, slides and / or elevators.

[0045] In addition, the third robot arm 21 and the fourth robot arm 22 can be identical to each other, and the third robot arm 21 and the fourth robot arm 22 can each be provided with a gripping support 23 and 25 at a corresponding end, and the gripping supports 23 and 25 are provided with, for example, suction members for selectively lifting each tray 100.

[0046] As a clarification, the term "robot arm" is used herein above and below in the specification and claims to include, without any limitation of generality, anthropomorphic articulated arms, six-axis robot arms, SCARA (Selective Compliant Articulated Robot Arm) systems, r-θ robots, and groups of linear and rotary actuators, and combinations thereof. In the example given here, the robot arm is preferably a robot arm with six axes of rotation, the robot arm comprising an installation base, a number of segments articulated to one another, and a gripping head, which may comprise, for example, a gripper.

[0047] In particular, the third robot arm 21 at the first station 12 has the function of moving each tray 100 from the loading position PL to the second station 13, while the fourth robot arm 22 at the third station 14 has the function of moving each tray 100 from the second station 13 to the third station 14 for subsequent distribution and / or packing steps.

[0048] The second station 13 comprises, besides the two robotic arms 19 and 20, essentially a weighing unit 26, a filling unit 27 and a closing unit 29, which are mounted on the base 11 and each unit is of a substantially known type.

[0049] For example, the weighing unit 26 may be of the type described in Italian patent application no. 102020000011488 filed by the same applicant.

[0050] In one embodiment of the invention, where the product P is a liquid, the filling unit 27 comprises both a filling device consisting of a robotic manipulator 30 provided at one end with a delivery member or delivery head 31 equipped with a number of delivery nozzles 32 and configured to fill the containers C sequentially, row by row F, and a pumping and supply unit 33 operatively connected to the delivery head 31 for pumping and supplying the liquid product P towards the containers C, as will be explained in more detail below.

[0051] In one aspect of the invention, the delivery head 31 may advantageously be interchangeable with other delivery heads 31 equipped with one delivery nozzle 32 or multiple rows of delivery nozzles 32, depending on the specific delivery or filling operation requirements, to deliver a predetermined amount of product P to each container C in each row F, one at a time, or to deliver a predetermined amount of product P to each container C in multiple rows F simultaneously.

[0052] It should be made clear here that the robotic manipulator 30, the delivery head 31 and the delivery nozzle 32 constitute or are part of the filling means of the device 10.

[0053] In other non-illustrated embodiments of the invention, other suitable obvious types of filling means or filling devices can be used instead of the robot manipulator 30. For example, a delivery head 31 provided with a corresponding delivery nozzle 32 can be arranged on the base 11 in a fixed position relative to the working path L.

[0054] The closing unit 29 comprises at least one supply device 35 configured to supply a plurality of closing elements, such as lids or caps T, towards a closing device 36 which simultaneously closes at least one row F of filled containers C in a manner essentially known per se.

[0055] The supply device 35 includes a chute 37 configured to convey the caps T toward the pickup zone ZP via a number of guides 38. The number of guides 38 is equal to the number of the storage and installation sections 101 provided in each row F.

[0056] The closing device 36 comprises at least one closure member 39 of a rotating type adapted to selectively move alternately between a pick-up position PP (shown in solid lines in FIG. 1 ) and an application position PA (shown in dotted lines in FIG. 1 ) to pick up caps T in a pick-up zone ZP and deliver or apply them to the containers C in the row F to close the containers C after they have been filled with product P, as will be described in more detail below.

[0057] In this example, the closure member 39 is provided with a comb-shaped member 40, which is attached to a rotating arm 41 that is rotatable about a rotation axis R to rotate the comb-shaped member 40 180° in the reverse direction. The comb-shaped member 40 is provided with a plurality of mounting portions 42, the number of which is the same as the number of guides 38, and is configured to pick up and temporarily support the cap T from a pick-up position PP toward an application position PA.

[0058] In another aspect of the invention, the first robot arm 19 and the second robot arm 20 are mounted on the base 11 on opposite sides of the working path L and positioned to cooperate with a delivery head 31 of the robot manual 30 in a work loading or delivery position (as shown in FIG. 1 ) in which the delivery head 31 is advantageously disposed laterally and centred with respect to the working path L.

[0059] In particular, the first robot arm 19 is capable of executing at least one program function to selectively transfer the trays 100 one by one, substantially on the working path L, to the filling unit 27, the closing unit 28 and possibly the weighing unit 26. In particular, when any one of the trays 100 is brought in correspondence with the filling unit 27, i.e. in correspondence with the delivery head 31 of the robot manipulator 30, the tray 100 is in a first operating position P1 in which the containers C (see Figures 2 and 4-9) of the first row F1 are located in a filling position PR (see Figures 1 and 4-9) directly below the delivery nozzle 32 of the delivery head 31.

[0060] Furthermore, during the operation of filling containers C (FIGS. 4 to 9), the first robot arm 19 is configured to advance one tray 100, initially in the first operating position P1, by a certain constant pitch S, each time a row F of containers C is filled with products P, as will be explained in more detail below. This advancement is performed on a working path L, said pitch S being advantageously equal to the distance D between the entire rows F of trays 100.

[0061] In another aspect of the invention, the second robotic arm 20 (FIG. 1) is capable of autonomously performing at least the same programmed functions as the first robotic arm 19, selectively transferring trays 100 one at a time to the filling unit 27, the closing unit 29, and possibly the weighing unit 26, in a manner similar to that described above for the first robotic arm 19. Specifically, the trays 100 moved by the second robotic arm 20 can be the trays 100 before or after the trays 100 moved by the first robotic arm 19.

[0062] An advantage of using a second robotic arm 20 associated with the second station 13 is that it maximizes the productivity of the apparatus 10, allowing it to package approximately 36,000 containers per hour, i.e., maximizing productivity that is only achievable with apparatus known in the prior art that use traditional means of movement rather than a robotic arm to move the trays 100.

[0063] In addition, the gripping heads of both robot arms 19 and 20 are associated with movable tables 44, 45 (Figures 1 and 3) configured to support each tray 100 during movement to the second station 13, and the movable tables 44, 45 are provided with a number of through-mounting sections 46 (Figure 3) arranged coaxially with the receiving and mounting sections 101 of each tray 100.

[0064] The apparatus 10 (Figure 1) further comprises electronic control means 47 for controlling the operation of the first, second and third moving means 15, 16 and 17 and of the mechanical parts and / or members of the weighing unit 26, the filling unit 27 and the closing unit 29.

[0065] In another aspect of the present invention, while one of the robot arms 19 or 20 is moving one tray 100, e.g. the first tray 102, relative to the delivery head 31 of the robot manipulator 30, the operation of both robot arms 19 and 20 is coordinated and controlled by electronic control means 47 so that the other robot arm 20 or 19 independently and autonomously moves the other tray 100, e.g. the second tray 103, to position it next to the first tray 102 so that it is available to the delivery head 31 when the filling operation of the container C supported by the first tray 102 is completed, so that the filling operation of the container C supported by the tray 100 is performed continuously with substantially no pause, i.e., eliminating or minimizing processing downtime.

[0066] Furthermore, the electronic control means 47 is programmable and configured to control the actuation and spatial and temporal movement of both robotic arms 19 and 20 so as to enable continuous and uninterrupted transport or feeding of trays 100 towards the delivery head 31 of the robotic manipulator 30.

[0067] In another aspect of the invention, both robotic arms 19 and 20 are controlled by electronic control means 47 so as to cause each tray 100 to follow a substantially similar, identical or mirror-reflected trajectory towards the delivery head 31 of the robotic manipulator 30 without interfering with each other.

[0068] It should also be noted that both robot arms 19 and 20 move both trays 100 relative to the delivery head 31, i.e. to the first operating position P1, so that each tray 100 moves parallel to the working path L and in the same plane as each other to define substantially the same working plane.

[0069] In a possible embodiment of the invention, the electronic control means 47 comprise at least one central control unit 48 .

[0070] In another possible, not shown, embodiment of the invention, the electronic control means 47 may comprise a control unit for each robot arm 19, 20, 21, 22 and robot manipulator 30, one of which has a "master" function, i.e. a command and / or control function, whereas the other remaining control units have a "slave" function, which depends on the actions performed by the master.

[0071] The operation of the apparatus 10 described above corresponds to a method of the present invention and comprises the following steps:

[0072] For ease of understanding, each processing step will be described below with respect to the containers C of two trays 100 that are fed in sequence, specifically the containers C of the first tray 102 and the second tray 103. It should be noted that the above sequence or the operating steps with respect to one tray and / or other trays should not be considered as limiting the invention, and it is understood that the same processing is subsequently performed on all other trays 100 in the cycle.

[0073] In an initialization step, the electronic control means 47 is programmed to control the operation of the first, second and third moving means 15, 16 and 17 and the operation of the mechanical parts and / or components of the weighing unit 26, the filling unit 27 and the closing unit 29.

[0074] In particular, the electronic control means 47 is programmed to control the actuation and the spatial and temporal movements of both robotic arms 19, 20 so as to effect a continuous and uninterrupted transfer of the trays 100 towards the delivery head 31 of the robotic manipulator 30. This programming is also performed so that both robotic arms 19 and 20 cause each tray 100 to follow a substantially similar, identical or mirror-reflected trajectory towards the delivery head 31 of the robotic manipulator 30 without interfering with each other.

[0075] In a first supply step, a first tray 102 on which a plurality of containers C to be filled are arranged is supplied to the first station 11 corresponding to the loading position PL.

[0076] In a first pick-up step, the third robotic arm 21 picks up the first tray 102 containing the empty containers C and moves it to the second station 13 .

[0077] Corresponding to the second station 13, in a first movement step, the first robot arm 19 is driven to position itself at the receiving position P0, receives the first tray 102 from the third robot arm 21, transports it correspondingly to the robot manipulator 30, and places it at the first operating position P1.

[0078] In a first filling step (FIGS. 4-9), the robot manipulator 30 is driven to deliver a specific amount of product P to the containers C of one specific row F at a time using the delivery nozzle 32 of the delivery head 31, and then moves to the next row. In particular, said filling step includes a partial filling substep (FIG. 5) in which the robot manipulator 30 first fills the first row F1 of containers C, and then in an advance substep (FIG. 6), the first robot arm 19 moves the first tray 102 in a known manner, advancing it by one advance width S on the working path L. This allows the first tray 102 to move to a second operating position P2, which is an operating position in which the containers C of the second row F2, which have not yet been filled, are located under the delivery nozzle 32 of the delivery head 31 for their filling. It should be noted that the above partial-fill and advance sub-steps are repeated in a cycle for each row F until the containers C in the last row FU of the first tray 102 have been completely filled s.

[0079] In parallel with the filling of the containers C in the first tray 102, a first closing step is also started. This first closing step includes various substeps, such as a supply substep in which the supply device 35 supplies a number of caps T towards the pick-up zone ZP, a pick-up transport substep in which the closure member 39 is located at the pick-up position PP and picks up the caps T in the pick-up zone ZP of the chute 37 using the comb member 40 and then transports these caps T towards the first tray 102 to an application position PA (FIG. 5), an application substep in which the comb member 40 of the closure member 39 is rotated 180° counterclockwise about the rotation axis R to attach the caps T to the containers C (FIG. 6), and a return substep in which the closure member 39 is returned to the pick-up position PP and the comb member 40 is rotated 180° clockwise to start a new pick-up transport substep. For the filling operation, the pick-up and transport sub-step, the application sub-step and the return sub-step are repeated in a cycle until the closure of the containers C in the last row FU of the first tray 102 is completed.

[0080] In particular, the pick-up and transport sub-steps, the apply sub-step and the return sub-step can advantageously be performed in time intervals that perform for each row F a fill sub-step and an advance sub-step.

[0081] In this example, the application substep (FIG. 6) begins when the first tray 102 is moved to a third operational position P3, in which the third row F3 of containers C of the first tray 102 is in the filling position PR and the first row F1 is in the closed position PC.

[0082] During the first step of filling and closing the containers C on the first tray 102, a second supply step supplies a second tray 103 corresponding to the first station 12, and the third robot arm 21 starts a second pickup step in which it picks up the second tray 103 and transports the second tray 103 corresponding to the second station 13.

[0083] Corresponding to the second station 13, a second moving step is started during the end processing of the first step of filling and closing the containers C in the first tray 102. This second moving step is to receive the second tray 103 from the third robot arm 21 and drive the second robot arm 20 to place it at the receiving position P0 behind the first tray 102 just as the containers C in the last row FU of the first tray 102 are being filled (FIG. 7). In this way, when the first robot arm 19 advances the first tray 102 to close the containers C in the last row FU, the second robot arm 20 moves the second tray 103 on the working path L to carry the containers C in the first row F1 of the second tray 103 to the filling position PR, and the second filling step is started (FIG. 8).

[0084] Advantageously, the result of the above operations is that the filling of the containers C of the two trays 102 and 103, and more generally the filling step of tray 100, is carried out continuously and substantially without pause, i.e., with no processing downtime or with minimal processing downtime.

[0085] 9, once the first closing step of the first tray 102 is completed, the first dispensing step begins, in which the first robotic arm 19 transfers the first tray 102, filled with containers C and closed, towards the third station 14 so that the fourth robotic arm 22 can pick up the first tray 102 and move it to the third station 14 for a subsequent dispensing operation.

[0086] The closing and dispensing steps for the second tray 103 are performed under the control of the electronic control means 47 in a similar manner to that described for the first tray 102 and therefore these steps will not be described again.

[0087] It should be noted that the above method also includes the steps of possible taring and / or weighing the container C, which are typically performed on a sample basis.

[0088] The tare measuring step and weight measuring step can be performed, for example, prior to the filling step of the containers C of a particular tray 100, for example by extracting a row F of containers C from a particular tray 100 and placing each container C in a corresponding weight measuring installation portion of the weight measuring unit 26.

[0089] Specifically, in the weight measurement step, the container C is placed in the corresponding weight measurement installation portion of the weight measurement unit 26 and then filled, thereby enabling targeted confirmation of the amount of product introduced into each container C.

[0090] When the tare or weighing step is completed, container C is returned, in a known manner, to its respective receiving station 101 in row F from which it was extracted, and normal operation of the apparatus 10 resumes.

[0091] It will be apparent that modifications and / or additions of various parts may be made to the apparatus 10 and method described above without departing from the field and scope of the invention as defined in the appended claims.

[0092] It is also clear that although the invention has been described with reference to some specific examples, a person skilled in the art can certainly achieve many other equivalent configurations of an apparatus for automatically packaging containers having the characteristics described in the claims, all of which fall within the scope of protection defined by the claims.

[0093] The purpose of the parenthetical signs in the appended claims is only to improve legibility and shall not be considered as limiting the scope of protection provided by the claims.

Claims

1. An apparatus (10) for automatic packaging of one or more containers (C) to be filled on a working path (L) in a state in which the containers (C) are supported by corresponding transport elements (100), comprising: a supply station (12) for sequentially supplying the transporting members (100) on which the containers (C) to be filled are placed; a filling unit (27) disposed downstream of the supply station (12) on the working path (L) and including filling means (30, 31, 32) configured to sequentially perform a plurality of operations for filling the containers (C); a first robotic arm (19) capable of performing at least one programmed function for selectively transferring said transport elements (100) one by one towards said filling means (30, 31, 32); electronic control means (47) for controlling said at least one filling unit (27) and said first robotic arm (19); An apparatus (10) comprising at least a second robotic arm (20) capable of autonomously performing the at least one programmed function of the first robotic arm (19) for selectively transferring the transport elements (100) one by one towards the filling means (30, 31, 32) under the control of the electronic control means (47); The electronic control means (47) coordinates and controls the operations of the first robot arm (19) and the second robot arm (20) so that the second robot arm (20) independently and autonomously moves the other transporting member (100) to position the other transporting member (100) next to the one transporting member (100) moved by the first robot arm (19) so that the other transporting member (100) can respond to the filling means (30, 31, 32) when filling of the container (C) supported by the first transporting member (100) is completed, while the first robot arm (19) moves one transporting member (100) relative to the filling means (30, 31, 32) is continuously performed without a break.

1. An apparatus (10) comprising:

2. the electronic control means (47) is programmable and is configured to control the actuation and the spatial and temporal movements of the first robot arm (19) and the second robot arm (20) so as to ensure that the transfer of the transport element (100) towards the filling means (30, 31, 32) is continuous and uninterrupted as it passes from the first robot arm (19) to the second robot arm (20); The device (10) of claim 1.

3. the first robot arm (19) and the second robot arm (20) are controlled by the electronic control means (47) so as to make each of the transporting members (100) follow a substantially similar, identical or mirror-reflected trajectory towards the filling means (30, 31, 32) without interfering with each other; The device (10) of claim 1.

4. said filling means comprising at least one delivery member (31) provided with one or more delivery nozzles (32); The delivery member (31) is disposed above the working path (L) when in the filling working position; The first robot arm (19) and the second robot arm (20) are disposed on opposite sides of the working path (L) and are positioned to cooperate with the delivery member (31) from opposite sides. The device (10) of claim 1.

5. The filling means further comprises a robotic manipulator (30); The delivery member (31) can be interchangeably attached to one end of the robot manipulator (30) so as to be adjustable depending on the specific operational requirements for filling the container (C).

5. The device (10) of claim 4.

6. the supply station (12) comprises a moving means (16), preferably of the robotic type, configured to transfer the transport element (100) on which the container (C) to be filled is placed towards the first robot arm (19) and the second robot arm (20); The device (10) of claim 1.

7. a closure unit (29) operatively associated with said filling unit (27); The closure unit (29) comprises at least a supply means (35) for supplying one or more closure elements (T) towards the filled containers (C) arranged on one of the transporting members (100), and a closure device (36) for sequentially closing the filled containers (C) with the closure elements (T). The device (10) of claim 1.

8. A method for automatic packaging of containers (C) in a state in which the containers (C) are supported by corresponding transport elements (100) on a working path (L) of an apparatus (10) comprising at least a supply station (12) with filling means (30, 31, 32) configured to perform a filling step on one or more containers (C) to be filled, and a first robot arm (19), the method comprising: a supply step of sequentially supplying the transporting member (100) on which the container (C) to be filled is placed from the supply station (12) along the working path (L); a first moving step in which the first robot arm (19) selectively transfers the transport elements (100) one by one towards the filling means (30, 31, 32) so that the supported containers can be filled; and The method further comprises: a second moving step in which a second robot arm (20) autonomously transfers the transport elements (100) selectively from the first robot arm (19) one by one towards the filling means (30, 31, 32) so as to enable filling of the supported containers; and The first moving step of moving the first robot arm (19) and the second moving step of moving the second robot arm (20) are controlled in a coordinated manner so that, while the first robot arm (19) is moving one of the transporting members (100) relative to the filling means (30, 31, 32), each step of filling the containers (C) supported by the first and second transporting members (100) is performed continuously without a break, and the second robot arm (20) independently and autonomously moves the other transporting member (100) to position the other transporting member (100) next to the one transporting member (100) moved by the first robot arm (19) so that the other transporting member (100) can respond to the filling means (30, 31, 32) when filling of the container (C) supported by the first transporting member (100) is completed. A method characterized by:

9. The method further comprises an initialization step of programming the electronic control means (47) to control the operation and the spatial and temporal movements of the first robot arm (19) and the second robot arm (20) so as to ensure continuous and uninterrupted transfer of the transport element (100) towards the filling means (30, 31, 32).

9. The method of claim 8.

10. The electronic control means (47) controls the first robot arm (19) and the second robot arm (20) so as to make each of the transporting members (100) follow a substantially similar, identical or mirror-reflected trajectory towards the filling means (30, 31, 32) without interfering with each other.

10. The method of claim 9.

11. In the filling step, the filling means (30, 31, 32) first fills the container (C) placed on the first transporting member (100) moved by the first robot arm (19), and then, continuously and sequentially without a break, fills the container (C) placed on the second transporting member (100) moved by the second robot arm (20).

9. The method of claim 8.

12. a closing step in which, after the filling step, a closing device (36) sequentially closes the filled containers (C) using a suitable closing element (T), 9. The method of claim 8.

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