Apparatus and method for automated container filling and weighing

Abstract

1. An apparatus (10) for automatically filling and metering a container (C) supported by a carrier member (100), comprising: The device (10) comprises at least: a first station (12) for sequentially supplying the carrier members (100); a second station (13) adapted to fill and weigh said containers (C); a first robotic arm (17) configured to selectively move the carrier members (100) one at a time; second and third robotic arms (19, 20) configured to receive at least first and second carrier members (100a, 100b), respectively, from the first robotic arm (17) and move them between one or more operating positions; An apparatus comprising:

Description

[Technical Field]

[0001] The present invention relates to an apparatus and method for the automated filling and metering of containers, such as vials, bottles, flasks or other containers capable of containing fluid products, in particular liquid, solid, powder or gel products. For example, the apparatus can be used in the pharmaceutical, cosmetic, healthcare, chemical and / or food industries. [Background technology]

[0002] In the industrial field of automated packaging of containers, filling and weighing machines are known which have one or more work stations arranged on a work path along which the containers move sequentially. Such known machines may be part of more complex machines which also comprise other devices or zones for manipulating said containers.

[0003] Movement of containers between different work stations can be accomplished by conventional mechanical and powered movement means or devices, including, for example, conveyor belts, gears, chains, slides, and / or lifters, or by humanoid or robotic arms.

[0004] EP 3307629 discloses a device for the automatic filling of containers, in particular bottles, cartridges, syringes and the like.

[0005] Also known are devices comprising a first station where empty containers are supplied, a second station where the containers are filled and weighed, and a third station where the containers are clamped and prepared for a subsequent delivery step. Typically, the containers arrive at the first station supported on special container transport trays which are provided with a number of receiving sheets suitable for receiving the containers.

[0006] The second station typically consists of a weighing unit, a filling unit, and one or more robotic arms for moving one tray at a time from one unit to another to cyclically perform the operations of weighing empty containers and filling and weighing full containers.

[0007] The use of a robotic arm for tray movement is advantageous as it is much easier to clean and disinfect than traditional transportation means and devices, which is particularly advantageous when the apparatus needs to operate in a hygienically safe working environment (e.g. a disinfected or sterile environment).

[0008] However, one of the drawbacks of this known device is that, particularly because it is compact, there is a risk that the robotic arm moves over the container during the filling and weighing operations, causing dust and / or fine particles to fall into the open, uncovered container.

[0009] Therefore, there is a need to develop an apparatus for automatically filling and weighing containers that overcomes at least one of the shortcomings of the prior art.

[0010] To this end, it is necessary to solve at least the technical problem of providing an apparatus for automatic filling and weighing of containers that can minimize or completely eliminate the risk of dust and / or particles from the movement of the robot arm falling into the container, while ensuring that the working environment is maintained hygienic and clean and maintaining a compact structure.

[0011] In particular, one of the objects of the present invention is to provide an apparatus and method for the automatic filling and weighing of containers that allows for high productivity, reaching values ​​similar to or even better than those achievable with the above-mentioned conventional transfer means or devices.

[0012] Another object of the present invention is to provide an apparatus and method for automatically filling and weighing containers that is compact, highly efficient, and maintains a sanitary and clean working environment.

[0013] Applicant has invented, tested and embodied the present invention to overcome the shortcomings of the prior art and to achieve these and other objects and advantages. Summary of the Invention

[0014] The invention is set forth and characterized in the independent claims, while the dependent claims describe further features of the invention or variants of the main inventive idea.

[0015] In order to achieve the above object, and to solve the above disclosed technical problem in a new and original way, and also to achieve considerable advantages over the prior art, a method for automatic filling and metering of containers supported by carrier members supplied to a first supply station of an apparatus is implemented, comprising: the apparatus further comprising a second filling and weighing station; The method comprises at least First and second supply steps; one or more pick-up and weighing steps; one or more insertion and metering steps; Equipped with In the first and second feeding steps, a first carrier member configured to support a filled and weighted container and a second carrier member configured to support a container to be filled and weighted are fed to the first station and moved one at a time by a first robotic arm towards the second station; In the one or more picking and weighing steps, one or more containers to be filled are picked up from the second carrier member; In the one or more inserting and measuring steps, one or more filled containers are inserted into the first carrier member.

[0016] According to one aspect of the present invention, during the one or more pick-up and weighing steps and the one or more inserting and weighing steps, the second and third robot arms of the apparatus alternately and cyclically move the first and second carrier members, respectively, within the pick-up and inserting zones of the second station.

[0017] In particular, the first robotic arm picks up one or more containers to be filled and weighed from the second carrier member by means of a gripping member and inserts the filled and weighed one or more containers into the first carrier member.

[0018] The pick-up and inserting steps are performed by the first gripping member at a common reference position located in the pick-up and inserting zone.

[0019] According to another aspect of the invention, during the one or more pick-up and metering steps, the third arm cyclically moves the second carrier member to a plurality of operative pick-up positions in the pick-up and insertion zone, whereby one row at a time of the receiving sheet of the second carrier member, on which one or more containers to be picked up are received, is aligned vertically with the reference position each time.Further, during the one or more inserting and metering steps, the second arm cyclically moves the first carrier member to a plurality of operative insert positions in the pick-up and insertion zone, whereby one row at a time of the receiving sheet of the first carrier member is aligned vertically with the reference position for inserting the one or more filled containers each time.

[0020] According to another aspect of the present invention, each of the one or more picking and weighing steps includes a first weighing sub-step, in which a weighing means of the apparatus positioned at the reference position weighs the one or more containers to be filled before the one or more containers to be filled are picked up for filling from the second carrier member, and each of the one or more inserting and weighing steps includes a second weighing sub-step, in which the weighing means weighs the one or more filled containers before the filled containers are fully inserted into the first carrier member.

[0021] According to another aspect of the invention, in the weighing substep, a weighing device of the weighing means, aligned vertically with respect to the reference position, is raised from a lowered position to an elevated position both before fully picking up one or more containers from the second carrier member and before fully inserting the one or more containers into the first carrier member, and cooperates with the one or more containers temporarily placed thereon to weigh the one or more containers at a time, in which the weighing device raises or maintains the one or more containers in an upper position.

[0022] According to another aspect of the present invention, during the one or more picking and weighing steps, when the weighing device is raised from the lowered position to the raised position, a lower portion of the one or more containers to be picked up enters the corresponding weighing seat of the weighing device and contacts a load cell present on the weighing seat. Furthermore, during the one or more inserting and weighing steps, the weighing device is in the raised position, and before the one or more filled containers are fully inserted into the first carrier member, a lower portion of the one or more containers enters the corresponding weighing seat and contacts a load cell. In this configuration, the containers rest only on the load cell, ensuring reliable and accurate weighing.

[0023] According to another aspect of the invention, during the one or more picking and weighing steps, the first robotic arm picks up the one or more containers sequentially from a first row of the second carrier member and transports them to a filling zone of the second station without moving or operating over unpicked and unfilled containers, and during the one or more inserting and weighing steps, the first arm inserts the one or more containers sequentially from a last row of the first carrier member without moving or operating over filled containers.

[0024] The present invention also relates to an apparatus for automatically filling and measuring containers supported by corresponding carrier members, The device comprises at least a first station for sequentially supplying the carrier members; a second station comprising a pick-up and insertion zone for said containers and arranged to fill and weigh said containers; a first robotic arm configured to selectively move the carrier members, one at a time, from the first station to the second station; Equipped with.

[0025] According to another aspect of the invention, the apparatus further comprises second and third robot arms disposed at the second station and configured to receive at least a first and a second carrier member, respectively, from the first robot arm and move them between one or more respective operating positions, in particular the first carrier member configured to support a filled and weighed container and the second carrier member configured to support a container to be filled and weighed.

[0026] Additionally, the second station includes a container pick-up and insertion zone.

[0027] In particular, the second and third robot arms are configured to alternately and cyclically move the first and second carrier members, respectively, within the pick-up and insertion zones; The first robotic arm includes a first gripping member configured to pick up one or more containers to be filled and weighed from the second carrier member and insert one or more filled and weighed containers into the first carrier member, the picking and inserting occurring at a common reference position located in the pick-up and insert zone.

[0028] According to another aspect of the invention, the third arm can cyclically move the second carrier member to a plurality of operational pickup positions within the pickup and insertion zone, whereby one row at a time of the receiving sheet of the second carrier member, which receives one or more containers to be filled, is aligned vertically with respect to the reference position.

[0029] Further, the second arm can cyclically move the first carrier member to a plurality of operational insertion positions within the pickup and insertion zone, whereby one row at a time of the receiving sheets of the first carrier member is aligned vertically with respect to the reference position for inserting the one or more filled containers.

[0030] According to another aspect of the invention, the apparatus further comprises weighing means arranged in the pick-up and insertion zone and comprising at least one weighing device for weighing the one or more containers, in particular the weighing device comprising a weighing arm aligned vertically and coaxially with the reference position and provided with a weighing seat adapted to receive the one or more containers.

[0031] According to another aspect of the invention, the metering device is positioned below a plane of movement of the carrier member and is configured to selectively raise and lower to move from a lowered position to a raised position and vice versa.

[0032] According to another aspect of the present invention, the first robotic arm is further capable of picking up the one or more containers from the second carrier member and transporting them towards the filling zone, and transporting the one or more containers from the filling zone to the first carrier member.

[0033] According to another aspect, the first robotic arm includes a second gripping member configured to grip the carrier member.

[0034] According to another aspect, the first gripping member is provided with a plurality of sheets arranged in a row and configured to remove and temporarily support the container.

[0035] According to another aspect, the system further comprises a filling device configured to dispense a liquid product into the container, the filling device being located within the second station.

[0036] According to another embodiment, the filling device is attached to a fourth robotic arm.

[0037] These and other aspects, features and advantages of the present invention will become apparent from the following description of some embodiments thereof, given by way of non-limiting example with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0038] [Figure 1] FIG. 1 is a schematic and simplified top view of an apparatus for automatically filling and weighing containers according to the present invention. [Figure 2] FIG. 2 is a schematic side view showing the steps of picking up and weighing an empty container. [Figure 3] FIG. 3 is a schematic side view showing the steps of picking up and weighing an empty container. [Figure 4] FIG. 4 is a schematic side view showing the steps of picking up and weighing an empty container. [Figure 5]FIG. 5 is a schematic side view showing the steps of picking up and weighing an empty container. [Figure 6] FIG. 6 is a schematic side view of the steps of inserting and weighing a filled container. [Figure 7] FIG. 7 is a schematic side view of the step of inserting and weighing a filled container. [Figure 8] FIG. 8 is a schematic side view of the step of inserting and weighing a filled container. [Figure 9] FIG. 9 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 10] FIG. 10 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 11] FIG. 11 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 12] FIG. 12 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 13] FIG. 13 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 14] FIG. 14 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 15] FIG. 15 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 16] FIG. 16 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 17]FIG. 17 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 18] FIG. 18 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 19] FIG. 19 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 20] FIG. 20 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 21] FIG. 21 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 22] FIG. 22 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. [Figure 23] FIG. 23 is a simplified top view diagrammatically illustrating the sequence of operations for multiple pick-up and metering steps and multiple insert-and-metering steps. DETAILED DESCRIPTION OF THE INVENTION

[0039] It must be made clear that the phraseology and terminology used in this specification, as well as the figures of the accompanying drawings, however described, have the sole function of better illustrating and explaining the invention, the scope of protection being defined by the claims, and their purpose is to provide a non-limiting example of the invention itself.

[0040] To facilitate understanding, the figures use the same reference numerals to indicate identical common elements whenever possible, and it will be understood that elements and features of one embodiment may be combined or incorporated into other embodiments as appropriate without further description.

[0041] 1, an apparatus 10 according to the invention is suitable and usable for automatically filling and metering containers C along a working path L. In the embodiment shown here, the working path L is straight, but in other embodiments not shown in the drawings, the working path L can take any suitable trajectory (which may be curvilinear and / or piecemeal or even mixed).

[0042] The container C can be of any shape and size and, without loss of generality, can be a vial, bottle, flask or any other type of container capable of containing a fluid product P (in particular a liquid, or a solid, powder) or a gel product P.

[0043] The containers C are supported by respective carrier elements or trays 100, which are substantially parallelepiped-shaped and are provided with a plurality of circular through-hole receiving sheets 101 suitable for temporarily, but stably, supporting the respective containers C. In particular, the receiving sheets 101 are arranged according to a positioning matrix consisting of a plurality of rows and columns, forming a series of parallel, mutually offset and spaced rows F (F1 to FU). Depending on the orientation of the trays 100 relative to the direction of the working path L (FIG. 1), it should be clarified that the term "row" can be understood as any line (or column) of said positioning matrix. It should further be clarified that the term "row" F, unless otherwise specified, refers to an orderly arrangement of the receiving sheets 101 and, consequently, to an orderly arrangement of the containers C placed therein.

[0044] The device 10 includes a base 11 (FIG. 1) on which, along a working path L from left to right in FIG. 1, a first station 12 or supply station, into which trays 100 are fed and removed from an exit position PP, each possibly containing a number of still-empty containers C; a second station 13 configured to carry out the filling and weighing of the containers C and to move them between a number of operating zones and / or positions; a third station 15 in which the filled and weighed containers C are clamped at a clamping position PT and then sent towards a subsequent delivery and / or packing zone (e.g. towards other work devices or stations not shown in the drawings); are arranged in order.

[0045] Both the first station 12 and the third station 15, shown and separated by dashed lines in FIG. 1, can be of any known type.

[0046] Furthermore, between the first station 12 and the second station 13 there is also a discharge zone 14 in which one tray 100 can be placed at a time, onto which a tray 100 is placed, for example a container C, which needs to be emptied for later use.

[0047] Along the work path L, each tray 100 is moved by a plurality of moving means, and the plurality of moving means includes at least a first robotic arm 17 configured to selectively move the trays 100 one at a time from the first station 12 to the second station 13; a second robot arm 19 and a third robot arm 20, each configured to receive a respective carrier member or tray 100a, 100b from the first robot arm 17 and move it between one or more operating positions within the second station 13 (as described in more detail below); Includes. Specifically, one tray 100a has the function of supporting filled and weighed containers C, and the other tray 100b has the function of supporting containers C to be filled and weighed.

[0048] It should be clarified that in this specification and the appended claims, the term "robot arm" and its derivatives refer, without loss of generality, to an anthropomorphic articulated arm, a six-axis robot arm, a SCARA (Selectively Compliant Articulated Robot Arm) system, an r-theta robot, and a unit of linear and rotary actuators, or a combination thereof. In the example given here, the robot arm is preferably a robot arm with six axes of rotation, comprising a stationary base, a plurality of reciprocating articulated segments, and a gripping head provided with, for example, a gripper or similar suitable gripping tool.

[0049] In the embodiment shown here, the first robot arm 17 is located in the first station 12 near the second station 13, and the second arm 19 and the third arm 20 are located within the second station 13.

[0050] In particular, the first robotic arm 17 can perform at least a first programmed function to move one tray 100 at a time from the exit position PP to the transfer position PC of the second station 13. Optionally, the first robotic arm 17 can also perform a second programmed function to move the tray 100 to the discharge zone 14 (for subsequent emptying).

[0051] The first robot arm 17 has a first gripping member 23 configured to pick up one or more containers C to be filled and weighed from the second carrier member 100b and insert the filled and weighed container or containers C into the first carrier member 100a.

[0052] Furthermore, the first robot arm 17 also comprises a second gripping member 21 configured to grip the carrier member 100 .

[0053] The first gripping member 23 may be attached to the second gripping member 21, preferably in a forward position, so as to be able to pick up the container C.

[0054] Specifically, a gripping support is provided at each end of the first robot arm 17, which defines a second gripping member 21 having each gripping means defined by two or more suction cup members that can selectively receive and lift each tray 100.

[0055] The first gripping member 23 is preferably configured by a front comb-shaped member, and has a plurality of gripping sheets 25 arranged in a row, configured to pick up and temporarily support the corresponding container C to be moved. The number of gripping sheets 25 is preferably equal to the number of receiving sheets 101 provided in each row F of the tray 100.

[0056] Specifically, the first robotic arm 17, by means of the first gripping member 23, can perform a third programmed function to move one or more containers C one row F at a time and both fill and weigh the containers C (this will be explained in more detail below). In some cases, the first robotic arm 17, by means of the first gripping member 23, can also perform a further programmed function of emptying the tray 100 with containers C whenever the containers C are in the discharge zone 14.

[0057] The second station 13 comprises at least one pickup and insertion zone 26 for containers C, in which the second robot arm 19 and the third robot arm 20 are arranged in close proximity, and a filling zone 27 adjacent to the pickup and insertion zone 26.

[0058] 1, the filling zone 27 is located upstream of the pick-up and insertion zone 26 with respect to the flow of containers C along the work line L. Furthermore, the transfer position PC for the tray 100 carrying the containers to be filled is located inside the pick-up and insertion zone 26 and is approximately centered with respect to the work line L.

[0059] In addition to the two robotic arms 19 and 20, the second station 13 is provided with both a weighing means 28 and a filling means, the weighing means 28 being configured to weigh the container C before and after filling and being positioned in a pickup zone 26 at a reference position PR, and the filling means being defined by a filling device 29 being configured to fill the container C and being selectively positionable in the filling zone 27.

[0060] According to one aspect of the present invention, the second and third robotic arms 19 and 20 perform at least one respective programmed function to cyclically move the respective trays 100a, 100b alternately through the pick-up and insertion zone 26, thereby picking up one or more containers C to be filled and weighed from the respective tray 100b and inserting these filled and weighed containers C into the other tray 100a at the reference position PR. This means that the pick-up and insertion of one or more containers C is performed by the weighing means 28.

[0061] In particular, the second robot arm 19 and the third robot arm 20 are mounted on the base 11 from opposite sides of the working path L and are arranged to alternately cooperate with the first robot arm 17 from opposite sides to receive and move the respective trays 100a and 100b and to pick up and insert the containers C.

[0062] Additionally, the second robot arm 19 and the third robot arm 20 are provided with respective moving members or supports 30a and 30b (FIGS. 1-8) configured to support each tray 100 during its corresponding movement within the second station 13. Specifically, each moving support 30a and 30b is provided with a plurality of through-seats coaxial with the receiving sheet 101 of each tray 100.

[0063] According to another aspect of the invention, the second robot arm 19 is capable of cyclically moving each tray 100a by a rotational-translational movement parallel to the base 11. In particular, the second robot arm 19 is capable of moving the carrier member 100a from the transfer position PC to a first waiting position PA1 (FIG. 1) (where the tray 100a is substantially outside the pick-up and insertion zone 26), and further from this first waiting position PA1 to a plurality of operational insertion positions POI. i It can be moved to the operation insertion position POI i In this case, each tray 100a is placed in the pickup and insertion zone 26 and inserted at each insertion position POI i ), one row F of the receiving sheet 101 of the tray 100a, starting from the last row FU, is aligned vertically with respect to a reference position PR for inserting one or more filled containers C.

[0064] According to another aspect of the present invention, the third robot arm 20 can perform each programmed function of periodically moving each carrier member 100b by a rotational-translational motion parallel to the base 11. In particular, the third robot arm 20 moves the carrier member 100b from the transfer position PC to a second waiting position PA2 that is substantially symmetrical to the first waiting position PA1 with respect to the work line L, and further moves the carrier member 100b from the second waiting position PA2 to a plurality of operational pick-up positions POE. i Can be moved to the operating pickup position POE i Each tray 100b is placed in the pick-up and insertion zone 26 so that each time (i.e., each operation pick-up position POE i ), the rows F of the receiving sheet 101 of the tray 100b, starting with the first row F1, are aligned with the reference position PR for picking up one or more containers C to be filled.

[0065] It should be clarified that the movement of the tray 100 by the second arm 19 and the third arm 20 is performed on a movement plane PM (FIGS. 2 to 8) that is parallel to the base 11 and at a fixed distance from it.

[0066] The weighing means 28 (Fig. 1) includes at least one weighing device 31 (Figs. 1 to 8), which includes a weighing arm 32 perpendicular to the work line L and is provided with a plurality of weighing sheets 33 for receiving and weighing the containers C in each row F. The number of weighing sheets 33 is equal to the number of receiving sheets 101 in each row F, and each weighing sheet 33 is provided with a load cell 35 at the bottom for weighing the container C.

[0067] In particular, the weighing device 31 is arranged below the movement plane PM of the tray 100, and the weighing sheet 33 of the weighing arm 32 is aligned perpendicular to the reference position PR. In this way, the trays 100b and 100a are moved by the second and third arms 19, 20 to different operational pick-up positions POE i and insertion position POI i When conveyed to the receiving trays 100a and 100b, the receiving sheets 101 of the trays 100a and 100b are each aligned coaxially with the weighing sheets 33 of the weighing devices 31 and, if present, with the containers C.

[0068] According to one aspect of the present invention, the weighing device 31 is configured to selectively rise and lower from a lowered position P1 to an upper position P2 (FIGS. 2 to 8), and vice versa, to cooperate with containers C in a row F of the receiving sheet 101 of the tray 100. In particular, in the lowered position P1, the weighing arm 32 is in a position that does not interfere with the containers C placed in the tray 100, and in the upper position P2, the weighing arm 32 cooperates with the containers C in a particular row F to lift and weigh the containers C when picking them up from the tray 100b held by the third robot arm 20, and to support and weigh the containers C when inserting them into the tray 100a held by the second robot arm 19, and then lower the containers C. It should be clear that when the weighing arm 32 of the weighing device 30 is in the upper position P2, the containers C are lifted from the receiving sheet 101 by the first gripping member 23 of the first robot arm 17, allowing them to be picked up or inserted.

[0069] According to one embodiment of the present invention, when the product P is a liquid, the filling device 29 (FIG. 1) comprises or is mounted on a fourth robotic arm 36, at one end of which is arranged a supply member or supply head 37 having a plurality of supply nozzles 39 and configured to sequentially fill one row F of containers C at a time. The filling device 29 further comprises a pump and supply unit 40 operatively connected to the supply head 37 for pumping and dispensing the liquid product P towards the supply head 37, as will be described in more detail below.

[0070] The filling zone 27 is also provided with a holding member 41 having a number of holding sheets 42 equal to the number of receiving sheets 101 on each tray 100. The holding sheets 42 are configured to temporarily hold the corresponding containers C that have been picked up by the first robot arm 17 from the trays 100b held by the third robot arm 20 and are ready to be filled.

[0071] The device 10 further comprises programmable electronic control means 45, which comprises at least one central control unit and is configured to control the actuation and spatial and temporal movements of the movement means (i.e., the first, second and third robotic arms 17, 19 and 20) in order to perform their respective programmed functions.

[0072] Electronic control means 45 of programmable type are also arranged to control the operation and the spatial and temporal movement of the metering means 28 and the filling device 29 .

[0073] In particular, the second robot arm 19 and the third robot arm 20 are controlled by the electronic control means 45 to move each tray 100a and 100b in a mirror image manner and with a time offset along a substantially similar trajectory, so that the second robot arm 19 and the third robot arm 20 do not interfere with each other despite working on the same work plane M.

[0074] The operation of the device 10 described so far, in accordance with the method according to the invention, comprises the steps described below.

[0075] However, first, for the sake of clarity, the operational steps have been described herein with respect to containers C on two trays 100 (specifically, the first tray 100a and the second tray 100b) that are supplied and removed in sequence, but it should be understood that this order (or the operational steps with respect to one and / or the other) is not intended to be limiting, and the same operations are performed periodically for all other trays 100.

[0076] In the first supply step, the first empty tray 100a is supplied to the exit position PP of the first station 11.

[0077] In the first removal step, the first robot arm 17 removes the first empty tray 100a with the second gripping member 21 and moves it toward the transfer position PC of the second station 13.

[0078] If necessary, before sending the tray 100a to the transfer position PC, an ejection step is provided in which the first robot arm 17 places the tray 100a in the ejection zone 14 and the first gripping member 23 picks up the containers C one row F at a time to empty the first tray 100a and free the corresponding receiving sheets 101.

[0079] In the second station 13, in the first movement step, the second robot arm 19 is driven and positioned at the transfer position PC in the pickup and insertion zone 26, receives the empty first tray 100a from the first robot arm 17, and transports it to the first waiting position PA1.

[0080] During the first step of moving the second robot arm 19, a second supply step of supplying the second tray 100b, on which a plurality of containers C to be filled are placed, to the first station 12 is started.

[0081] Then, once the empty first tray 100a has been sent out, the second removal step is initiated, in which the first robot arm 17 removes the second trays 100b, each containing a container C to be filled, from the exit position PP.

[0082] In the second station 13, in the second movement step, the third robot arm 20 is driven to be positioned at the transfer position PC, receives the second tray 100b from the first robot arm 17, and transports it toward the reference position PR.

[0083] According to another aspect of the present invention, the method includes one or more movement steps, one or more weighing and pick-up steps, and one or more insertion and weighing steps, in which the second and third arms 19 and 20 perform rotational-translational movements on a movement plane PM parallel to the base 11 (Figures 9 to 23), alternately and cyclically moving each tray 100a, 100b within the pick-up and insertion zone 26, thereby picking up one or more containers C to be filled and weighed from a carrier member 100b held by the third robot arm 20 and inserting the filled and weighed one or more containers C into another carrier member 100a held by the second robot arm 19 at a common reference position PR.

[0084] In particular, in the first weighing and pick-up step, the third robot arm 20 first translates horizontally on the movement plane PM to move the first row F1 of containers C of the second tray 100b to the reference position PR so that the receiving sheet 101 of the first row F1 (and therefore the containers C of the first row F1) overlaps the weighing sheet 33 of the weighing device 31. In this position, the second tray 100b is in the first operational pick-up position POE1 (Figure 9).

[0085] The first operational pick-up position POE1 is, as previously mentioned, the general-purpose operational pick-up position POE i It is necessary to clarify that it is in the first position.

[0086] Next, in a first weighing substep, the weighing device 31 moves from the lowered position P1 (FIG. 2) to the raised position P2 (FIG. 3) to weigh the empty containers C and raises them from the storage position on the tray 100b to an upper position to prepare for their respective pickup by the first robot arm 17. Specifically, when the weighing device 31 is raised from the lowered position P1 to the raised position P2, the lower part of each container C is inserted into the corresponding weighing sheet 33 and brought into contact with the load cell 35 arranged at the bottom of the weighing sheet 33.

[0087] Subsequently, in the first pickup substep (Figure 10), the first robot arm 17 approaches the reference position PR with the first gripping member 23, picks up an empty container C that is in the first row F1 and has already been weighed, and transports it to the filling zone 27 (Figures 4 and 5).

[0088] In the first filling step (FIG. 11), the picked-up empty container C is placed in the holding sheet 42 of the holding member 41, and the fourth robot arm 36 supplies a certain amount of liquid into the container C using the supply nozzle 39.

[0089] During the first filling step, the third arm 20 transports the second tray 100b from the first operational pick-up position POE1 (where the first row F1 of empty containers C has been picked up) to the second waiting position PA2.

[0090] The first insertion and weighing step is then initiated (FIG. 12), with the second robot arm 19 transporting the first tray 100a to a reference position PR in the pick-up and insertion zone 26, with the receiving sheet 101 of the last row FU of the first tray 100a (the row farthest from the filling zone 27) coaxially aligned with the weighing sheet 33 below it. In this position, the first tray 100a is in a first operational insertion position POI1.

[0091] As described above, the first action insertion position POI1 is the general action insertion position POI i It is necessary to clarify that it is in the first position.

[0092] It should be noted that in the first insertion and metering step, the metering device 31 is in the raised position P2.

[0093] In a first insertion sub-step, the first arm 17 (Fig. 13) moves the filled container C to the reference position PR and inserts it into the receiving sheet 101 of the last row FU of the first tray 100a held by the second robot arm 19. In this sub-step, the filled container C is maintained or supported by the weighing device 31, i.e. the lower part of the container C passes through the receiving sheet 101 and is inserted into the corresponding weighing sheet 33 and comes into contact with the load cell 35 (Figs. 6 and 7).

[0094] Next, there is a second weighing sub-step in which the weighing device 31 weighs the filled container C and then descends to the lowered position P1, so that the container C also descends until it reaches its normal storage position on the first tray 100a (Figure 8).

[0095] Subsequently, the second robot arm 19 transports the first tray 100a from the first operational insertion position POI1 to the first standby position PA1.

[0096] Next, a second pick-up and weighing step is performed (Fig. 14), in which the third robot arm 20 transports the second tray 100b to the pick-up and insertion zone 26 at the reference position PR, to the second operational pick-up position POE2, i.e., so that the receiving sheets 101 of the second row F2 of the second tray 100b are coaxially aligned with the weighing sheets 33 below them. Note that in this substep the weighing device 31 is in the lowered position P1.

[0097] Another first weighing sub-step similar to that described above is then initiated, this time for the second row F2 of containers C to be filled.

[0098] Therefore, a second pick-up step (FIG. 15) and a second filling step (FIG. 16) are performed, which are the same as those described above, except that they target the second row F2 of containers C picked up from the second tray 100b.

[0099] Generally, in the pick-up and weighing step, the third arm 20 moves through a plurality of operational pick-up positions POE in the pick-up zone 26. i The second tray 100b is periodically moved so that one row F of the receiving sheet 101 of the second tray 100b, in which an empty container C to be picked up is present, is vertically aligned with the reference position PR above the weighing sheet 33.

[0100] In particular, the pick-up of the containers C to be filled on the second tray 100b is performed without the first robot arm 17 operating or moving over the containers C that have not yet been picked up. Indeed, the first robot arm 17 periodically picks up the containers C, starting from the first row F1 (the row closest to the filling zone 27), and after picking up, moves backward to transport the container C to the filling zone 27. In this way, operating over an already emptied receiving sheet 101 has the advantage that the periodic pick-up of containers C occurs and prevents dust particles and / or fine particles from falling into the containers C that have not yet been filled.

[0101] Once the second filling step has been carried out, the second insertion and weighing step begins (Fig. 17), in which the second robot arm 19 transports the first tray 100a to the pick-up and insertion zone 26 at the reference position PR, bringing the first tray 100a into the second operational insertion position POI2, i.e. the receiving sheets 101 of the second-to-last row F of the first tray 100a are coaxially aligned with the weighing sheets 33 below them. It should be noted that in this sub-step the weighing device 31 is in the raised position P2.

[0102] Next, the same second insertion sub-step (FIG. 18) and second weighing sub-step as described above are performed on the second to last row F of containers C on the first tray 100a.

[0103] Generally, in the insertion and weighing steps, the second arm 19 moves the first tray 100a between a plurality of operational insertion positions POI in the pickup zone 26. i, so that one row F of receiving sheets 101 of first tray 100a is aligned vertically with a reference position PR for inserting already filled containers.

[0104] In particular, the insertion of already filled containers C into the first tray 100a, performed by the first robot arm 17, is performed without the first robot arm 17 operating or moving above the already filled containers C placed on the first tray 100a. Indeed, the first robot arm 17 periodically inserts containers C, starting from the last row FU of the first tray 100a, and for this purpose advances from the filling zone 27 to the reference position PR by operating above the not yet occupied receiving sheets 101. In this way, the periodic insertion of containers C occurs, which has the advantage of preventing dust particles and / or fine particles from falling into the already filled containers C.

[0105] Thereafter, other pick-up and weighing steps, filling steps, and insert-and-weigh steps, as well as other movement steps, are repeated periodically until the last operating cycle is completed, with the second tray 100b temporarily positioned at the last operating pick-up position POE. U , picking up and filling a container C from the last row FU of the second tray 100b (FIGS. 19, 20, and 21), while the first tray 100a is temporarily moved to the last operational insertion position POI U and inserts the filled container C into the first row F1 of the first tray 100a (FIGS. 22 and 23).

[0106] In the final movement step, the second robot arm 19 transports the first tray 100a with the filled containers C towards the clamping position PT of the third station 15 and clamps or caps the filled containers C.

[0107] Once the first tray 100a has been delivered to the third station 15, the second arm 19 and the third arm 20 can begin another operating cycle as described above, beginning with a third step of supplying another tray 100.

[0108] In particular, when the second tray 100b is emptied, it is passed to the second robot arm 19 and becomes the first tray 100a to be filled and performs that function, while a new second tray 100b is passed to the third robot arm 20 and the new second tray 100b is filled with containers C to be weighed, picked up, filled and transferred to the tray held by the second robot arm 19.

[0109] It should be clarified that the method may also provide a possible step of calibrating the weighing means 28 with weights of known magnitude. This calibration is usually carried out after several operating cycles to verify the correct operation of the weighing equipment.

[0110] It will be apparent that modifications and / or additions to components may be made to the apparatus 10 and method described above without departing from the field and scope of the present invention as defined by the claims.

[0111] Although the present invention has been described with reference to some particular examples, it is clear to those skilled in the art that other equivalent forms of devices and methods for the automatic filling and metering of containers can be realised which have the features set out in the claims and which therefore all fall within the field of protection defined by the claims.

[0112] In the following claims, references in parentheses are for the purpose of readability only and should not be considered as limiting factors with regard to the field of protection defined by the claims.

Claims

1. 1. A method for automatically filling and metering containers (C) supported by a carrier member (100) fed to a first supply station (12) of a filling and metering device (10), comprising: The apparatus (10) further comprises a second filling and weighing station (13), The method comprises at least first and second supply steps; one or more pick-up and weighing steps; one or more insertion and metering steps; Equipped with In the first and second feeding steps, a first one of the carrier members (100) configured to support a filled and weighted container (C) and a second one of the carrier members (100) configured to support a filled and weighted container (C) are fed to the first station (12) and moved one at a time by a first robot arm (17) towards the second station (13), In said one or more picking and weighing steps, one or more containers (C) to be filled are picked up from said second carrier member (100b), In the one or more inserting and metering steps, one or more filled containers (C) are inserted into the first carrier member (100).

1. A method comprising: during said one or more pick-up and weighing steps and said one or more inserting and weighing steps, second and third robot arms (19, 20) alternately and cyclically move said first and second carrier members (100a, 100b), respectively, within a pick-up and inserting zone (26) of said second station (13); The method comprises the steps of: the first robot arm (17) picking up one or more containers (C) to be filled and weighed from the second carrier member (100b) by a first gripping member (23) and inserting the filled and weighed containers (C) into the first carrier member (100a), the picking and inserting steps being performed by the first gripping member (23) at a common reference position (PR) located in the pick-up and insertion zone (26).

2. During the one or more pick-up and metering steps, the third arm (20) moves the second carrier member (100b) to one of a number of operational pick-up positions (POE) in the pick-up and insertion zone (26). ｉ ) so that one row (F) at a time of the receiving sheet (101) of said second carrier member (100b) containing one or more containers (C) to be picked up is aligned vertically with respect to said reference position (PR) each time; During the one or more insertion and metering steps, the second arm (19) moves the first carrier member (100a) through a plurality of operational insertion positions (POIs) within the pick-up and insertion zone (26). ｉ ) so that one row (F) of the receiving sheets (101) of said first carrier member (100a) is aligned vertically with said reference position (PR) for inserting said one or more filled containers (C) each time. The method of claim 1.

3. each of the one or more picking and weighing steps includes a first weighing sub-step; In the first weighing sub-step, the weighing means (28) of the device (10) arranged at the reference position (PR) weighs the one or more containers (C) to be filled before the one or more containers (C) to be filled are picked up from the second carrier member (100b) by the first robot arm (17); the one or more inserting and metering steps include a respective second metering sub-step; In the second weighing sub-step, the weighing means (28) weighs the one or more filled containers (C) when the filled containers (C) are inserted into the first carrier member (100a).

3. The method according to claim 1 or 2.

4. In the weighing sub-step, the weighing device (31) of the weighing means (28), aligned vertically with respect to the reference position (PR), rises from a lowered position (P1) to a raised position (P2) both before picking up one or more containers (C) from the second carrier member (100b) and when inserting the one or more containers (C) into the first carrier member (100a), and cooperates with the one or more containers (C) temporarily placed thereon to weigh the one or more containers (C) at a time; In the raised position (P2), the metering device (31) raises or maintains the one or more containers (C) in an upper position. The method of claim 3.

5. In the one or more picking and weighing steps, when the weighing device (31) is raised from the lowered position (P1) to the raised position (P2), the lower part of the one or more containers (C) to be picked up enters the corresponding weighing sheet (33) of the weighing device (31) and contacts the load cell (35) housed in the weighing sheet (33). The method of claim 4.

6. during said one or more picking and weighing steps, said first robot arm (17) picks up one or more of said containers (C) from said second carrier member (100b) and carries them to a filling zone (27) of said second station (13) without moving or operating over containers (C) that have not yet been picked up and filled; In said one or more inserting and metering steps, said first arm (17) inserts said one or more containers (C) without moving or moving over already filled containers (C). The method according to any one of claims 1 to 5.

7. An apparatus (10) for automatic filling and metering of containers (C) supported by corresponding carrier members (100), comprising: The device (10) comprises at least: a first station (12) for sequentially supplying the carrier members (100); a second station (13) equipped with a pick-up and insertion zone (26) for said containers (C) and arranged to fill and weigh said containers (C); a first robotic arm (17) configured to selectively move the carrier members (100) one at a time from the first station (12) to the second station (13); An apparatus comprising: The device (10) further comprises: second and third robot arms (19, 20) arranged at the second station (13) and configured to receive at least a first carrier member (100a) and a second carrier member (100b) of the carrier members (100) from the first robot arm (17), respectively, and move them between one or more respective operating positions; Equipped with the first carrier member (100a) is configured to support a filled and metered container (C); said second carrier member (100b) being configured to support a container (C) to be filled and weighed; the second and third robot arms (19, 20) are configured to alternately and cyclically move the first and second carrier members (100a, 100b), respectively, within the pick-up and insertion zone (26); the first robot arm (17) comprises a first gripping member (23) configured to pick up one or more containers (C) to be filled and weighed from the second carrier member (100b) and to insert one or more filled and weighed containers into the first carrier member (100a); The pick-up and insertion are performed at a common reference position (PR) located in the pick-up and insertion zone (26). Apparatus (10).

8. The third arm (20) moves the second carrier member (100b) to a plurality of operational pick-up positions (POE) within the pick-up and insertion zone (26). ｉ ) so that one row (F) at a time of the receiving sheet (101) of said second carrier member (100b) containing one or more containers (C) to be filled is aligned vertically with respect to said reference position (PR); The second arm (19) moves the first carrier member (100a) to a plurality of operational insertion positions (POI) within the pick-up and insertion zone (26). ｉ ) so that one row (F) at a time of the receiving sheets (101) of said first carrier member (100a) is aligned vertically with said reference position (PR) for inserting said one or more filled containers (C).

8. The device (10) according to claim 7.

9. a weighing means (28) comprising at least one weighing device (31) for weighing said one or more containers (C); The weighing device (31) has a weighing arm (32) aligned vertically and coaxially with the reference position (PR) and equipped with a weighing seat (33) configured to support the one or more containers (C).

9. Apparatus (10) according to claim 7 or 8.

10. The weighing device (31) is arranged below a plane of movement (PM) of the carrier members (100, 100a, 100b) when the carrier members (100, 100a, 100b) are moved by the second and third robot arms (19, 20), and is configured to selectively rise and fall to move from a lowered position (P1) to an upper position (P2) and vice versa. An apparatus (10) according to any one of claims 7 to 9.

11. The second station (13) further comprises a filling zone (27) in which one or more containers (C) are filled; The first robotic arm (17) is further configured to pick up the one or more containers (C) from the second carrier member (100b) and transport them towards the filling zone (27), and to transport the one or more containers (C) from the filling zone (27) to the first carrier member (100a). An apparatus (10) according to any one of claims 7 to 10.

12. The first robot arm (17) comprises a second gripping member (21) configured to grip the carrier member (100). An apparatus (10) according to any one of claims 7 to 11.

13. The first gripping member (23) is provided with a plurality of sheets (25), The plurality of sheets (25) are arranged in a row and are configured to temporarily support the container (C) when removed. An apparatus (10) according to any one of claims 7 to 12.

14. a filling device (29) configured to supply a liquid product (P) to the container (C), The filling device (29) is located in the second station (13). An apparatus (10) according to any one of claims 7 to 13.

15. The filling device (29) is attached to a fourth robotic arm (36).

15. The device (10) according to claim 14.

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