Method for moving a container within a line for processing the container, and corresponding processing line

Abstract

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

Description

Technical Field

[0001] The present invention relates to a method for moving containers along a processing line capable of comprising a plurality of processing stations. The plurality of processing stations includes, for example, at least one storage station, a station for filling the containers and optionally weighing them, and a subsequent station for covering the containers. The present invention also relates to a processing line suitable for carrying out the above method.

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

[0003] The term "product" or "substance" means any liquid, semi-solid, gel-like or solid composition, in which case the composition can be in powder or granular form and can be of plant origin and / or animal origin and / or chemical origin.

[0004] By way of non-limiting example only, the method according to the present invention can be used in the fields of pharmaceuticals, cosmetics, health management, chemicals, and / or food.

Background Art

[0005] In the industrial sector of automatic filling of containers, there are conventionally various devices or machines configured as processing lines, inside which one or more processing stations, advantageously arranged continuously, are used as destinations or starting points for the movement of one or more containers. One embodiment of these processing lines is described in Patent Document 1.

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

[0007] The containers to be processed can be flasks, such as bottles, or in any case, containers having a similar or equivalent shape and capable of containing a fluid product, in particular a liquid, or a solid and powder or gel product.

[0008] The transfer of containers between processing stations and, in some cases, within a processing station is typically carried out using mechanical and electric conveying devices or conveyors, which include, for example, conveyor belts, turntables or carousels, gears, chains, slides, lifters, robotic arms, in some cases robotic members, and other mechanical members.

[0009] Regardless of the type of conveying device used, containers that can be positioned, at least initially, within a suitable seat of a container holding tray need to be picked up individually or in groups by a suitable pickup member for subsequent filling, weighing, and closing operations.

[0010] Typically, those containers are placed inverted on the container holding tray with their heads downwards, i.e., with the mouth side facing downwards and located, for example, within a corresponding seat of the container holding tray. It should be noted that the container holding tray reaches a processing line sealed, for example, by a film, usually after the containers placed inverted and accommodated inside the container holding tray have been subjected to a disinfection and / or sterilization treatment.

[0011] After those containers are inverted again so that their mouths face upwards, they are then picked up to be transferred to the next processing station, such as a filling and optionally weighing station.

[0012] During various processing steps, it is fundamentally important to accurately pick up containers, move them, and position them, but various problems have arisen and these have not yet been solved in the prior art.

[0013] Often, containers are positioned relative to each other within a container holding tray according to a so-called "five-point" spatial configuration. This causes the rows of containers to be staggered with respect to adjacent ones, optimizing the occupation of volume.

[0014] This spatial arrangement makes it possible to maximize the number of containers placed within the container holding tray, but makes it difficult to pick up the containers. Thus, in the prior art, the staggering arrangement between successive rows is precisely the cause, and only a small number of containers arranged within the same row can be picked up at once.

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

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

[0017] In order to overcome the drawbacks of the prior art and achieve these and other objects and advantages, the applicant of the present invention has conceived, tested, and implemented the present invention. [Prior Art Documents] [Patent Documents]

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

[0019] The present invention is described and characterized in the independent claims. The dependent claims explain other features of the present invention or modifications to the main inventive concept. According to the above object, some embodiments relate to a method of moving containers within a processing line comprising a station for storing and picking up containers and a station for at least filling and optionally weighing the containers.

[0020] According to one embodiment, such a method comprises supplying a container holding tray containing a plurality of containers at the above-described storage and pick-up station, wherein the plurality of containers are arranged in an order and positioned on the container holding tray according to a pattern defined by a positioning matrix with their mouths facing the bottom wall of the container holding tray.

[0021] The method also includes inverting the above-described containers arranged in the container holding tray by inverting means including an inversion tray configured to engage at least a portion of the containers according to the same pattern defined by the positioning matrix so as to couple with the container holding tray. Therefore, the inverted containers are supported at the bottom by the inversion tray.

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

[0023] The extraction means is moved in the pickup direction on a substantially horizontal plane, whereby, when the extraction means moves towards the container holding tray in the pickup direction, the extraction means first encounters the first container to be picked up and then encounters the second container to be picked up, i.e., the second container further downstream.

[0024] As a non-limiting example, among the at least two containers to be picked up, the first container is positioned within the first row and the second container is positioned within the second row, and in the positioning matrix as described above, with respect to the pickup direction as described above, the first row is outside the second row.

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

[0026] This method advantageously enables moving a larger number of containers at once than the number of containers that can be moved by the prior art methods, and thus reduces the number of associated movements as well as the overall movement time, making it possible to improve productivity.

[0027] In particular, reducing the number of movements is advantageous because this also involves reducing the energy consumption, wear, and overheating of the powering unit of the associated moving device in addition to reducing the operating time. This is even more advantageous, for example, when the movement is performed by an automatic or robotic device.

[0028] According to another aspect of the present invention, there is provided a line for processing containers, comprising a station for storing and picking up containers and a station for at least filling the containers and optionally weighing the containers. The storage and pick-up station is provided with a container holding tray in which a plurality of containers can be pre-positioned above with the mouth side facing the bottom wall of the container holding tray according to a pattern defined by a positioning matrix. The storage and pick-up station also includes an inversion tray and is provided with inversion means configured to invert at least a part of the containers arranged in the container holding tray and keep them supported at the bottom by the inversion tray according to a pattern defined by the positioning matrix.

[0029] The processing line as described above comprises picking means configured to reciprocate relative to the inversion tray as described above in a pick-up direction existing on a substantially horizontal plane. According to one embodiment, the picking means as described above is adapted to pick up at least two containers arranged on two parallel consecutive rows of the positioning matrix from the inversion tray. Of these containers to be picked up, the first container is positioned within the first row and the second container is positioned within the second row, the first row being upstream of the second row with respect to the movement towards the container holding tray in the pick-up direction, and the picking means is adapted to move them towards at least the filling station after they have been picked up by the picking means.

[0030] According to one embodiment, the pick-up direction as described above is transverse to each row of the containers of the positioning matrix. These and other aspects, features, and advantages of the present invention will become apparent from the following description of several embodiments given by way of non-limiting examples with reference to the accompanying drawings.

Brief Description of the Drawings

[0031]

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DETAILED DESCRIPTION OF THE INVENTION

[0032] For ease of understanding, the same reference numbers are used where possible so that the same common elements can be seen in multiple drawings. It will be understood that the elements and features of one embodiment can be advantageously incorporated into other embodiments without further clarification.

[0033] Here, possible embodiments of the present invention will be referred to in detail, and one or more examples thereof are shown in the accompanying drawings. Each example is provided for the purpose of illustration of the present invention and should not be understood as limiting the present invention. For example, one or more features shown or described can be modified or adopted in other embodiments, or in relation to other embodiments, to create other embodiments as long as they are part of one embodiment. It will be understood that the present invention includes all such modifications and variations.

[0034] Before describing these embodiments, the inventors must also clarify that the text of this specification is not limited in its application to the details of the structure and arrangement of components as described in the following description using the accompanying drawings. The text of this specification can provide other embodiments and can be obtained or implemented in various other ways. The inventors must also clarify that the expressions and terms used in this specification are for illustrative purposes only and cannot be regarded as limiting.

[0035] The embodiments described herein with reference to the accompanying drawings relate to a line 10 for processing a container C, which includes a method of moving the container C within the line 10 for processing the container C, and at least one station 11 for storing and picking up the container C, and at least one station 12 for filling and optionally weighing the container C (FIG. 1).

[0036] In this case, and also in the main text of this specification, the filling and optionally weighing station 12 can be understood as a filling-only station or a filling and weighing station, and the weighing can be performed both before filling (tare weight) and after filling (gross weight), or only after filling. In any case, the purpose of this weighing is to detect the net weight of the product metered into each container C. Typically, for example, when the tare weight of a single container C or a group of containers C is known, the gross weight is detected when the product is metered into the same container C, and from that, the net weight of the metered product can be calculated by difference.

[0037] Furthermore, when the station 12 is a filling and weighing station, this expression can be envisaged in both cases where the filling and weighing station is equipped with weighing means and filling means that directly cooperate and are arranged close to each other, and where the filling and weighing station provides two zones or substations that are spaced apart, separated, or far apart from each other, with the first of these having weighing means for weighing the tare of the container C and the second having filling means and weighing means for filling and weighing the product metered into each container C.

[0038] According to some embodiments described in this specification, the inventors refer, by way of non-limiting example, to the type of container C that is more clearly visible, for example, in FIG. 10. In this case, the container C is configured as a flask or bottle capable of containing a fluid product, in particular a liquid, or a solid and powder or gel product. In these possible embodiments, the container C has a neck 41 protruding from the containing body 42 and a mouth 43. The neck 41 has an upper protruding annular edge 44 corresponding to the mouth 43, while on the opposite side, there is a bottom end 45. It is clear that the container C can also have other shapes and sizes and, in some cases, may not even be the same or equivalent to the shape and size of a flask or bottle.

[0039] According to some embodiments, the storage and pick-up station 11 includes or is associated with at least one container holding tray 15. The container holding tray 15 has a bottom wall 17. On the container holding tray 15, a predetermined number of empty containers C are pre-positioned in order to form a group of containers C arranged in sequence according to the positioning matrix M1 (FIG. 2). The positioning matrix M1 is defined, for example, by an arrangement according to the pattern of rows and columns of the containers C within the container holding tray 15. In this case, and also in the main text of this specification, in order to identify the rows or columns of the containers C, the inventors may also use the term "row" (see, for example, rows I and II in FIGS. 4 and 9). In that case, a row means a succession of elements that are aligned with each other, in this particular case the containers C. According to this pattern, for example, the containers C in one row are offset with respect to the containers C in the two adjacent rows, that is, one element in one row is arranged within the space between two elements in the subsequent row and the preceding row. As a result, the spatial arrangement is optimized and the container holding tray 15 ensures the accommodation of as many containers C as possible. This spatial arrangement of the containers C, which is specific to this section, is also referred to in technical terms as a "five-point" arrangement.

[0040] The container holding tray 15 is provided with a plurality of support seats 16 (see FIGS. 5 to 7), and these support seats 16 appropriately reproduce the pattern of the positioning matrix M1. The support seats 16 can be defined, for example, by elements protruding from the bottom wall 17, or can be arranged or fabricated on the bottom wall 17 of the container holding tray 15 according to a predetermined spatial configuration, for example, a "five-point" arrangement. The container C is positioned in an inverted state within the support seat 16 with the side of the mouth portion 43 facing downward, that is, facing the bottom wall 17, and in particular, is placed, for example, on the bottom wall 17 (FIG. 5).

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

[0042] The support seat 16 can be within the bottom wall 17 formed in a concave shape or can be laterally bounded by an outer peripheral bead that defines the shape of the support seat 16 and can also protrude somewhat from the bottom wall 17 to enable correct positioning of the container C.

[0043] In the embodiments described herein, the support seat 16 can define an accurate and defined space on which the container C can be placed, but preferably has no lateral support function for the container C. For example, in a "five-point" arrangement, the containers C are not in contact and positioned, but they are extremely close to each other and self-support each other in the event of a collision.

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

[0045] The container holding tray 15 can be provided with an outer peripheral frame 19 connected to the side wall portions 18 and configured, for example, to facilitate the gripping and operation of the container holding tray 15. For this purpose, the outer peripheral frame 19 can have a fret shape or a stepped outer shape that extends outwardly from the side wall portions 18 and terminates with a substantially flat outer shape. The outer peripheral frame 19 can be configured to adapt to a closure film (not shown) that adheres to the outer peripheral frame 19 to seal the container holding tray 15.

[0046] In some embodiments, the storage and pick-up station 11 comprises an inversion means 20 including an inversion tray 20a configured to couple with the container holding tray 15. The inversion means 20 may also include certain moving means 38 suitable for moving the inversion tray 20a as required, as will be described below. The inversion means 20 is configured to invert at least a part of the containers C disposed within the container holding tray 15 and to keep them supported at the bottom by the inversion tray 20a according to a pattern defined by the positioning matrix M1 even after inversion. In particular, the inversion tray 20a engages with some or all of the containers C disposed within the container holding tray 15 and, in cooperation with the container holding tray 15, is configured to invert the spatial orientation of the containers C such that the containers C are supported by the inversion tray 20a with the mouth 43 side facing upward.

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

[0048] The inversion seats 21 can be made to fit within the thickness of the inversion tray 20a and advantageously may have a depth that allows for lateral support of the container C when the container C is positioned within the inversion seats 21. In the examples described herein, the inversion seats 21 have a circular cross-section following the substantially cylindrical shape of the container C. The inversion seats 21 may have a lateral size slightly larger than the lateral size of the container C so as to allow for some play to enable stable positioning of the container C while facilitating subsequent pick-up of the container C.

[0049] The processing line 10 also comprises pick-up means 22 configured to engage with at least a part of the containers C disposed on the inversion tray 20a. The taking-out means 22 is configured to be reciprocally movable in the pickup direction W with respect to the inversion tray 20a (Figs. 4 and 9). According to a possible embodiment, this pickup direction W can in particular be transverse, more specifically orthogonal, to each row of the containers C of the positioning matrix M1. In this particular case, the pickup direction W can be transverse, more specifically orthogonal, to the outer periphery of the inversion tray 20a defined by each side wall portion.

[0050] In some embodiments, the taking-out means 22 is adapted to pick up at least two containers C arranged on two parallel and consecutive rows I, II of the positioning matrix M1 from the inversion tray 20a, wherein a first container C1 thereof is positioned within the first row I and a second container C2 is positioned within the second row II. In the positioning matrix M1, with respect to the pickup direction W, the first row I is outside the second row II (see, for example, Figs. 4 and 9).

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

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

[0053] Each gripping receptacle 24 of the taking-out gripper 22 is configured to accommodate a plurality of containers C of a group of containers C arranged in sequence. According to a possible embodiment, the removal means 22 is configured to perform at least a first relative movement of engagement with respect to the inversion tray 20a on a substantially horizontal plane in order to engage at least a part of the group of containers C arranged in the inversion seat portion 21 of the inversion tray 20a, and engage and hold the container C in the gripping receptacle 24 of the removal gripper 22. In particular, the removal means 22 is configured to pick up the container C from at least two parallel and consecutive rows I, II of the container C. Alternatively, it is not excluded that the first relative movement as described above is achieved by moving the inversion tray 20a with respect to the removal gripper 22a.

[0054] Preferably, due to its form, the removal gripper 22a is configured to pick up two or more containers C, in particular three or more, even more specifically four or more, or more than that, of one row I at the same time in order to reduce the processing time, movement time, and the number of movements, and it is also possible to pick up all the containers C. Also, it is possible to pick up two or more containers C, in particular three or more, even more specifically four or more, or more than that, of one consecutive row II parallel to row I at the same time, and it is also possible to pick up all the containers C. Here, the pick-up from two rows I, II is described, but it is obvious that the present invention can also be applied to pick up the container C from three or more rows, for example three, four, five, six, or even seven or more rows, and further from all the rows of the inversion tray 20a.

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

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

[0057] According to some embodiments, at least in the first relative movement of engagement, the take-out gripper 22a is configured to be operably aligned with the rows or columns of the positioning matrix M1 of the inversion tray 20a such that the gripping receptacles 24 each at least partially accommodate the rows of the container C inserted into the gripping receptacles 24, as shown in FIG. 9.

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

[0059] According to some embodiments, the take-out gripper 22a includes a lateral support 26 from which, in a direction substantially orthogonal to the lateral support 26, on one side the arm 23 and on the other side the gripping portion or handle 27 extend, and the take-out gripper 22a can be operated by the gripping portion or handle 27, for example by an automatic moving device or a robotic moving device.

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

[0061] According to some embodiments described herein, when the container C is engaged by the arm 23 of the extraction gripper 22a, it is held according to a mechanical coupling with play. According to some embodiments shown in FIG. 9a, each holding seat 25 includes corresponding support portions 29 facing each other from both sides of the same gripping receptacle 24, and the support portions 29 are respectively on the corresponding arm 23, as shown in FIG. 10, to receive and place the container C thereon. formed in a concave shape In particular, the support portion 29 can support the neck portion 41, in this particular case the protruding annular edge 44 of the container C, during use (FIG. 10).

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

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

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

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

[0066] Therefore, FIGS. 15 and 16 show some embodiments that provide weighing, where the support plate 30 positions the container C with respect to both the filling means 40 and the weighing means 33. Alternatively, it is also possible to use the removal means 22 directly for this purpose.

[0067] In both cases, especially when weighing is also provided, the advantage of being able to move a plurality of containers C is evident. The plurality of containers C, after appropriate inversion within the inversion tray 20a, are preferably picked up from the container holding tray 15 by the removal means 22 provided with the removal gripper 22a, moved by the support plate 30 or by the removal means 22 itself, and then the containers C are filled and weighed by the weighing means 33 described herein.

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

[0069] In some cases, the weighing operation before filling and the weighing operation after filling can also be performed in specific operating units that are different from each other and also different from the filling unit. These operating units are separated, and in some cases, they are associated with each other by appropriate moving means. For example, by moving the picking gripper 22a itself or, if provided, the support plate 30. It should be noted that, for example, if the filling unit is separate from the weighing unit and separated upstream and / or downstream from the weighing unit, or in other cases where required, in that filling unit, it may be necessary to align the container C to be filled, which is supplied by the picking gripper 22a, with an array of filling means 40 that are aligned according to a given direction.

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

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

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

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

[0074] In embodiments where weighing is also provided using the support plate 30 as a means for cooperating with the weighing means 33, each support seat portion 31 has an opening 32 formed on the bottom surface to enable cooperation with the weighing means, and the weighing means are also appropriately shaped (FIGS. 13, 15, and 16). For example, the formed opening 32 can have a form in which three angled arms extend from a central zone, and in particular, the arms can be equally angled at about 120° with respect to each other and can exhibit a shape of a three-pointed star.

[0075] On the other hand, in some embodiments, when weighing is not provided, the support plate 30 can be made to have no formed opening 32, for example, as shown in FIG. 12. In some embodiments that can be combined with all the embodiments described herein, weighing means 33 (Figs. 14, 15, 16, 17, 18, and 19) includes at least one weighing device 33a and at least one corresponding weighing plate 34 associated with the at least one weighing device 33a. The at least one weighing device 33a may include, for example, a load cell or other weight detector. The corresponding weighing plate 34 is mounted on the at least one weighing device 33a. At least one container C is positioned on the weighing plate 34 each time weighing is to be performed, and in particular, is positioned within the corresponding receiving seat 34a of the weighing plate 34. For this purpose, the at least one weighing plate 34 is shaped or adapted, as better described below, according to requirements, for example, to have a single receiving seat 34a (Figs. 14, 15, 16, and 17) to weigh only one container C at a time, or to have a plurality of receiving seats 34a, and thus to weigh a plurality of containers C supported by the same weighing plate 34 (Figs. 18 and 19).

[0076] In some embodiments described with reference to Figs. 14, 15, 16, and 17, the weighing means 33 includes a plurality of weighing devices 33a and corresponding weighing plates 34, and the corresponding weighing plates 34 are each operably connected to the corresponding weighing device 33a. For example, the weighing plate 34 can be arranged to cooperate with one, two, or more rows of containers C supplied by the support plate 30 for the purpose of weighing the containers C without removing them from the corresponding support seats 31 in which they are received.

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

[0078] Furthermore, FIGS. 14, 15, and 16 show embodiments where the number of weighing devices 33a, and thus the number of corresponding weighing plates 34, is arranged on two offset rows (e.g., in a "five-point pattern") on the support plate 30 or alternatively on the take-out gripper 22a in a manner that cooperates with the offset arrangement of two consecutive rows of the positioning matrix M1 defined by the support plate 31, and is less than the number of containers C provided. However, it is not excluded that the weighing plates 34 are aligned or arranged according to other spatial configurations.

[0079] On the other hand, FIG. 17 shows an embodiment in which independent weighing plates 34 are provided, each arranged on a corresponding weighing device 33a according to the configuration defined by the positioning matrix M1. In this embodiment, the number of weighing devices 33a, and thus the number of corresponding weighing plates 34, corresponds at least to the number of containers C present in two separate rows, e.g., row I and row II, or more generally, to a part or the whole of the number of containers C supported by the support plate 30, whereby all of those containers C can be weighed simultaneously in a single movement and removed from the corresponding support seats 31 in which they are received, without individually or row-by-row operation.

[0080] In the embodiments described herein, this applies to both what has been described in relation to FIGS. 14 to 16 and what has been described in relation to FIG. 17. The support plate 30 is configured to perform at least a first movement of alignment with respect to the weighing means 33 so as to align the forming opening 32 in a direction perpendicular to the weighing plate 34 and the positioning matrix M1 (FIG. 15). In this case, each weighing plate 34 is preferably shaped so as to present a form that fits the form of the corresponding forming opening 32. Further, the support plate 30 also performs a second movement (FIG. 16) so that the properly shaped weighing plate 34 is inserted into the forming opening 32 and engages the container C, and then is configured to rise again so as to disengage the weighing plate 34 from the corresponding forming opening 32. In the case of the embodiments of FIGS. 14, 15, and 16, this series of movements is repeated by gradually advancing the support plate 30 step by step in coordination with the distance between the row of container C and the weighing plate 34 with respect to the weighing means 33 so that all the containers C present on the support plate 30 are gradually arranged in cooperation with the row of weighing plates 34 on which they are weighed. On the other hand, in the case of the embodiment of FIG. 17, this series of movements is performed only once because, due to the presence of a number of weighing devices 33a and corresponding weighing plates 34 that is at least equal to the number of containers C, it is possible to weigh all the containers C simultaneously.

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

[0082] In the embodiments described herein, where an operation of weighing the tare is provided, the present invention is particularly advantageous because by moving a larger number of containers C at once, it is possible to reduce the number of times the tare of the containers C is weighed.

[0083] In particular, in embodiments described with reference to FIGS. 18 and 19 and combinable with all embodiments described herein, the weighing means 33 may include one or more weighing devices 33a, each having a weighing plate 34 provided with a plurality of receiving seats 34a. Each of these receiving seats 34a is advantageously adapted to receive a corresponding container C for the purpose of weighing the product introduced by the filling means 40. For example, the weighing means 33 may include a single weighing device 33a supporting a weighing plate 34 having a plurality of receiving seats 34a, or may include a plurality of such weighing devices 33a, each of the weighing devices 33a being equipped with a weighing plate 34 having a plurality of positioning seats 34a.

[0084] In the embodiments described with reference to FIGS. 18 and 19, the number of receiving seats 34a per weighing plate 34 is advantageously two or more, for example three, four, five, six, or even more than seven. These receiving seats 34a can also be arranged on several consecutive rows, depending on their number and operating requirements, each row being able to provide in this case two or more, for example three, four, five, six, or even more than seven receiving seats 34a.

[0085] In the embodiment described with reference to FIGS. 18 and 19, the receiving seats 34a are arranged in alignment. However, the fact that the receiving seats 34a can also be arranged in a "pentagonal" spatial configuration or other configurations is not excluded. Depending on the arrangement of the receiving seats 34a provided in the weighing plate 34 described with reference to FIGS. 18 and 19, the support plate 30 carrying the container C, or the extraction gripper 22a when the support plate 30 is not used, is appropriately moved relative to the weighing means 33 in the same manner as described above with reference to FIGS. 14, 15, 16, and 17 so that the cooperation and alignment between the container C and the receiving seats 34a are achieved.

[0086] Advantageously, by the weighing means 33 according to the embodiment described with reference to FIGS. 18 and 19, in particular, when the weighing also involves the step of weighing the tare, it is possible to significantly improve the efficiency of the weighing procedure and, therefore, the efficiency of the entire processing cycle.

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

[0088] Referring also to FIG. 20, which shows a graph of the trend of the weight (y-axis) with respect to time (x-axis) gradually detected by the weighing device 33a, at time t0, when all the containers C are positioned in their corresponding receiving seats 34a and are empty, that is, before filling, the weight detected by the weighing device 33a at time t0 represents the weight of all the empty containers C, that is, the tare weight, or in any case, a reference value or a weight of 0. This tare weight is the initial weight value referred to in the subsequent operation of weighing the first container C being filled by the filling means 40. In the graph of FIG. 20, the tare weight is indicated by P0 at time t0.

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

[0090] All weights detected subsequently, except for the first weight detected upstream of the start of filling, which is the tare weight of all "m" containers C present in the receiving seat 34a of each weighing plate 34 associated with the corresponding weighing scale 33a, are gross weights. Therefore, for example, the net weight of the product weighed into the first filled container C will be given by the difference between the detected gross weight P1 and the tare weight P0 detected first, while the net weight of the product weighed into the second filled container C will be given by the difference between the detected gross weight P2 and the preceding gross weight P1, and so on. Therefore, following the first operation of weighing the tare when the container C is empty, it is possible to state that the gross weight detected in a given weighing operation actually represents a reference weight from which the net weight of the product weighed in that given subsequent operation is calculated in subsequent operations of weighing the gross weight.

[0091] Therefore, in some embodiments, the progressive determination of the weight of the product weighed into the container C in the first filling step by the filling means 40 is carried out by the difference between the weight detected by the weighing scale 33a in that first filling step and the tare weight of the container C first detected by the weighing scale 33a. Subsequently, by the filling means 40, the progressive determination of the weight of the product weighed into the container C in each of the specific filling steps following the first filling step is carried out by the difference between the weight detected by the weighing scale 33a in that specific filling step and the weight detected by the weighing scale 33a in the immediately preceding filling step.

[0092] Generally, by the filling means 40, the net weight N(i + 1) of the product measured in a given container C at the instant of time i + 1 is defined by the difference between the current weight P(i + 1) detected by the weigher 33a and the weight P(i) detected by the same weigher 33a related to the weighing at the previous time i, that is, N(i + 1) = P(i + 1) - P(i), wherein i is a natural number from 0 to m, and m is the number of containers C arranged and supported in the accommodation seat portion 34a of the corresponding weighing plate 34 associated with the weigher 33a.

[0093] Therefore, as a result of what has been described above, the graph of FIG. 20 can thus be regarded as a "step-shaped" graph of weight versus time, each step representing an increase in the weight detected by the weigher 33a, and the entity of each step actually corresponding to the net weight of the product measured in a specific filling step. Therefore, in some embodiments, the weighing method described herein can be stated to be a "step-type" weighing method.

[0094] Therefore, in some embodiments, the method is - Positioning a plurality of empty containers C in the accommodation seat portion 34a such that each container C is inserted into a specific accommodation seat portion 34a of the corresponding weighing plate 34, preferably in a stable manner, by the taking-out means 22 or by the support plate 30 into which the container C has been transferred by the taking-out means 22; - Weighing all the containers C present in the corresponding accommodation seat portion 34a of the weighing plate 34 to perform the gross weight weighing; - Repeating the tare weighing for a given group of containers C to be filled and weighed, i.e., without performing the tare weighing of each container C, sequentially filling each of the containers C, and in each step, i.e., after each filling, gradually determining by the weighing device 33a the weight of the product metered into a specific container C. This is achieved by subtracting from the total weight determined each time, the value of the total weight determined in the previous weighing, in order to determine the weight of the product metered into each container C without removing the container from the weighing plate 34 after measuring the total tare weight.

[0095] When the weighing means 33 includes a plurality of weighing devices 33a, the step of performing the tare weighing only once and the step of sequentially filling and weighing the containers C on each weighing plate 34 can advantageously be carried out in parallel for each of the provided weighing devices 33a.

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

[0097] As a result, the advantages obtained by the embodiments described with reference to FIGS. 18 and 19 are clear, i.e., it is possible to gradually measure the total weight for each of the containers C and derive the net weight N therefrom. This is because the tare weight is known and, advantageously, for all of the "m" containers C, the tare weighing was not performed individually but only once at the start of the weighing cycle. As a result, in these embodiments, the m - 1 operations of weighing the tare and the m - 1 movements of the container C are not required, resulting in significant advantages in terms of time, less wear of the automatic movement system used, less energy consumption, and less overheating.

[0098] Another advantage obtained by the embodiments described with reference to FIGS. 18 and 19 is that each weighing device is provided with its own weighing plate, which has a single positioning seat for receiving the corresponding container to be filled and weighed, achieving a higher weighing accuracy than the prior art where there is a single weighing device and multiple containers C are weighed by the corresponding weighing plate 34, preventing the addition of multiple measurement errors that may occur when using multiple weighing devices. Therefore, it is also possible to reduce errors by setting the accuracy threshold for tare weighing for the various weighing devices used. Furthermore, the embodiment of the method described with reference to FIGS. 18 and 19 results in fewer measurement executions when the number m of containers C to be weighed is the same, reducing the probability of errors and making it possible to reduce measurement errors. In particular, in the case of the method described herein, taking into account the weighing of the first tare as well, m + 1 measurements are actually performed to weigh m net weights. In contrast, in the case of the prior art method, it means weighing the tare and the total weight for each of the m containers, 2 * m measurements are performed.

[0099] In any case, it should also be pointed out that the use of the support means, in this particular case the support plate 30, can be optional. In fact, in a possible embodiment, the filling and optionally weighing of the containers C can be carried out directly by using the extraction means 22, in particular the extraction gripper 22a, to move the containers C held in a predetermined position by the extraction gripper 22a, more specifically, in order to arrange them to cooperate with the filling means 40 and optionally the weighing means 33.

[0100] In the embodiments described herein, involving the use of weighing means 33 having a plurality of weighing devices 33a, each having a corresponding weighing plate 34 adapted to a single receiving seat (Figs. 14, 15, 16, 17) or a plurality of receiving seats 34a (Figs. 18 and 19), a plurality of containers C picked up from the container holding tray 15 are advantageously moved by removal means 22, preferably provided with a removal gripper 22a, after proper inversion in the inversion tray 20a, and moved by the support plate 30 or by the removal means 22 itself. This advantage relates in particular to the reduction in the number of movements of the container C involved in the weighing operation, and hence to the improvement in the overall productivity of the processing line 10, the reduction in the energy consumption of the corresponding moving means, and the reduction in overheating and wear.

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

[0102] The other processing stations 14 may require the container C to be supported within other support means suitable for enabling the specific operations to be performed on the container C at a given station.

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

[0104] As a mere example, the processing line 10 may thus be provided with temporary removal means 35 (see FIGS. 1, 21, 22) having a form that is substantially the same as, or in some cases the same as, the form of the above-described removal means 22, in particular the removal gripper 22a. These temporary removal means 35 can remove the containers C from the support plate 30 or from the removal gripper 22a, keep them properly positioned, and then be adapted to deliver them to another support plate 36. The other support plate 36 can be provided with receiving seats 37 that are arranged relative to each other according to a configuration defined by the positioning matrix M1. The receiving seats 37 may or may not have a perforated bottom.

[0105] According to a possible embodiment, the processing line 10 also comprises a plurality of moving means 38 schematically shown in FIG. 1. The moving means 38 are arranged corresponding to at least the processing stations 11, 12 in order to move at least the container holding tray 15, the inversion tray 20, and the removal gripper 22, and in some cases also another support plate 36 or alternatively the temporary removal means 35 within the space.

[0106] The moving means 38 can be selected from the group comprising an automatic moving device, a robotic moving device, a magnetic moving device, or other known devices, or combinations of these devices.

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

[0108] For example, the command and control unit 50 can control and command the driving of the moving means 38 in a manner that matches a preset working cycle and / or a selectable working cycle each time, and also as a function of the products to be metered and the batches of containers C to be processed.

[0109] According to some embodiments, a method for moving the container C within the processing line 10 is also provided. This method includes - supplying a container holding tray 15 that houses a plurality of containers C, wherein the plurality of containers C are arranged on the container holding tray 15 in a state where the mouth 43 of the container C faces downward, i.e., toward the bottom wall 17, and are arranged in order according to a pattern of rows and columns defined by the positioning matrix M1, - inverting the containers C by means of an inversion tray 20a that engages in order according to a pattern of rows and columns defined by the positioning matrix M1 with at least some or all of the containers C arranged within the container holding tray 15, wherein the inverted containers C are supported at the bottom by the inversion tray 20a. By the cooperation of the inversion tray 20a and the container holding tray 15, it becomes possible to invert the orientation of the containers C, so that at the end of the inversion, the containers C are supported at the bottom by the inversion tray 20a with the side of the mouth 43 facing upward.

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

[0111] Among these containers C, the first container C is positioned within the first row I, and the second container C is positioned within the second row II. In the positioning matrix M1, with respect to the pickup direction W, the first row I is outside the second row II.

[0112] Picking up and moving such a group of containers C, including at least the first container C and the second container C, of two parallel and consecutive rows as defined above, enables the acceleration of the movement, generally reducing the displacement, travel time, and number of movements of the container C between processing stations, reducing the wear, overheating, and energy consumption of the moving members, and enabling the improvement of the overall productivity of the processing line 10. In fact, in this way, all the containers C arranged in the container holding tray 15 can be sufficiently picked up with fewer movements each time.

[0113] The inversion tray 20a and the container holding tray 15 can be held and moved by corresponding gripping and moving means 38 capable of moving the inversion tray 20a and the container holding tray 15 in space according to an operating sequence, and this operating sequence is, for example, - Combining the inversion tray 20a, with the inversion seat portion 21 arranged in a downward state, with the container holding tray 15 so that the support seat portion 16 of the container holding tray 15, in which the container C is arranged upside down inside, is aligned with the inversion seat portion 21 of the inversion tray 20a (Fig. 5), - Moving the inversion tray 20a and the container holding tray 15 relatively, for example, along a straight generatrix, so that the container C is placed on the support seat portion 16 on the side of the mouth portion 43 and is abutted by the inversion seat portion 21 corresponding to the opposite bottom end portion 45 of the accommodation main body portion 42, to combine the inversion tray 20a and the container holding tray 15 (Fig. 6), - Rotating the assembly of the inversion plate 20 and the container holding tray 15 so that the container C is placed on the inversion seat portion 21 of the inversion tray 20a with respect to the bottom end portion 45 of the accommodation main body portion 42 and is abutted by the support seat portion 16 of the container holding tray 15 corresponding to the mouth portion 43 of the container C (Fig. 7), - The inversion tray 20a and the container holding tray 15 are relatively moved along, for example, a straight generatrix so that the container C can be placed on the inversion seat portion 21 of the inversion tray 20a and can be picked up by the pick-up gripper 22a, and the inversion tray 20a and the container holding tray 15 are separated from each other.

[0114] Therefore, the pick-up gripper 22a at least performs a first relative movement of engagement (pick-up direction W, FIGS. 4 and 9) with respect to the inversion tray 20a in order to engage at least a part of the group of containers C arranged in the inversion seat portion 21 of the inversion tray 20a, and engages and holds the container C in the gripping receiving port 24 (FIG. 8). Alternatively, it is also possible to move the inversion tray 20a according to the first relative movement of engagement with respect to the pick-up gripper 22a.

[0115] When the container C is engaged, a second relative movement, for example, in a lateral direction, particularly orthogonal, with respect to the pick-up direction W can be performed between the pick-up gripper 22a and the inversion tray 20a in order to take out the container C from the inversion tray 20a. In a possible implementation form, for example, the pick-up gripper 22a can also perform at least a second relative lifting movement with respect to the inversion tray 20a, which is in a lateral direction, particularly orthogonal, with respect to the pick-up direction W, so as to take out the container C held in the gripping receiving port 24 from the inversion tray 20a in order to move the container C to the next processing station (FIG. 10). Or alternatively, the pick-up gripper 22 can be kept stationary, and the inversion tray 20a can be moved in a lateral direction, particularly orthogonal, with respect to the pick-up direction W, particularly in a downward movement.

[0116] Subsequently, the method provides for moving the container C towards the filling and optionally weighing station 12, in particular towards the support plate 30 if provided, in order to place the container C within the corresponding support seat 31 of the support plate 30 (FIG. 11). Subsequently, filling (FIG. 12), or filling and weighing (FIGS. 14 to 17), can be carried out, for example, using the support plate 30 (FIG. 12 or FIG. 13) which is most suitable for that purpose if provided. In any case, the support plate 30 has obvious advantages with respect to the operating time in that the container C is not removed from and / or removed from the support plate 30 itself, and is adapted in such a way that filling and optionally weighing of the container C with fewer movements is possible. As already explained above, it is also possible to use the extraction gripper 22a directly as an alternative to the support plate 30.

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

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

[0119] When one or more rows of the containers C present within the support plate 30 are aligned in a vertical direction with the corresponding weighing plate 34, the support plate 30 and the weighing plate 34 perform a movement (FIG. 16) to bring them closer to each other such that the weighing plate 34 is inserted into the corresponding formed opening 32 of the support plate 30 in order to execute a weighing operation, and a subsequent movement to pull them away from each other such that the weighing plate 34 is released from the corresponding formed opening 32 of the support plate 30. In the preferred solution shown in FIGS. 15 and 16, the support plate 30 is movable, while on the other hand, the weighing plate 34 is fixed, and the support plate 30 moves towards the weighing plate 34 such that the weighing plate 34 is inserted into the corresponding formed opening 32 of the support plate 30 in order to execute a weighing operation, and moves away from the weighing plate 34 to pull the weighing plate 34 out of the corresponding formed opening 32 of the support plate 30. However, the inventors do not exclude an embodiment in which, conversely, the weighing plate 34 is vertically movable in order to engage the container C through the formed opening 32. In any case, in the above-described embodiment in which the support plate 30 is used for weighing purposes, the container C can be partially or completely released from the support plate 30. The case of complete release means that the lower surface of each container C comes onto the upper surface of the support plate 30.

[0120] As described above, in other embodiments, instead of the support plate 30, the removal means 22, in particular the removal gripper 22a, is provided to move the container C towards at least the filling station 12 so as to cooperate with the filling means 40 provided within at least the filling station 12, and to align the rows of the containers C present within the removal gripper 22a in a vertical direction with the filling means 40. When at least the filling station 12 is also a filling and weighing station, the removal gripper 22a is also moved towards the weighing means 33 associated with the filling and weighing station. In this case, it is provided to align the rows of the containers C present within the removal gripper 22a in a vertical direction with the corresponding weighing means 33 so as to align the container C with the corresponding formed weighing plate 34 of the weighing means 33.

[0121] On the other hand, in the embodiment described using FIGS. 18 and 19, the support plate 30, or alternatively the taking-out means, in particular the taking-out gripper 22a, moves a group of containers C to be filled and weighed with respect to weighing means 33 provided with a weighing plate 34 having a plurality of receiving seats 34a. In this case, several containers C, for example arranged along one row and advantageously equal in number to the number of receiving seats 34a, are positioned in the receiving seats 34a and then all the containers C present in the receiving seats 34a of the weighing plate 34 are weighed to perform a single weighing operation in order to measure the gross weight. Subsequently, as described above with reference to FIG. 20, the product is gradually metered into each of the containers C by the filling means 40 and the weight is measured each time. The positioning of the group of containers C into the receiving seats 34a, the initial weighing of the gross weight, the gradual filling of each container C of a given group, and the weighing of the corresponding total weight for calculating by difference the net weight of the product metered into a particular filled container C, the above operations are also based on the number and arrangement of the receiving seats 34a provided on the weighing plate 34, as described with reference to FIGS. 18 and 19, and are repeated the same number of times as the number of rows of containers C to be weighed or approximately the number of divisors of the number of rows of containers C to be weighed.

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

[0123] At the end of the filling and optionally weighing operation, it is possible to provide for transferring the filled and optionally weighed container C from the support plate 30 or from the take-out gripper 22a to the subsequent processing station 14. In this way, the support plate 30 or the take-out gripper 22a without the container C can return to the previous filling and optionally weighing station 12 to receive other containers C that will be filled and optionally weighed. The transfer to the subsequent processing station 14 can be achieved via a reciprocating interaction between the support plate 30 or the take-out gripper 22a and the temporary take-out means 35 (Fig. 21), and the subsequent delivery of the container C to another support plate 36 (Fig. 22) associated with the processing station 14. The support plate 30, or alternatively the take-out gripper 22a, the temporary take-out means 35, and the other support plate 36 can be moved relative to each other. For example, the temporary take-out means 35 can be fixed, and the support plate 30 or the take-out gripper 22a can be moved by appropriate automatic movement means to engage with the temporary take-out means 35 and thus to determine the transfer of the container C to the temporary take-out means 35. At this point, when the support plate 30 or the take-out gripper 22a moves in the separating direction to return to the previous filling and optionally weighing station 12, in a similar manner, the other support plate 36 can be moved by appropriate automatic movement means to engage with the temporary take-out means 35 that temporarily supports the container C and thus to determine the transfer of the container C to the other support plate 36.

[0124] According to a possible embodiment, at least the container holding tray 15, the inversion tray 20a, the take-out gripper 22a, optionally the support plate 30, and optionally the other support plate 36, or alternatively the temporary take-out means 35, are provided to be moved by, for example, humanoid, robotic automatic movement means according to the described method.

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

[0126] For this purpose, at least one suitable optical inspection assembly 60 can be provided, which includes, for example, a video camera or similar optical inspection means or video inspection means, associated with the filling and optionally weighing station 12 and also optionally associated with the storage and pick-up station 11 (Figs. 1, 4, 11, 12, 14, 15, 16, 17). The optical inspection assembly 60 can advantageously be connected to the command and control unit 50 and supply an acquisition signal which is processed by the command and control unit 50 to provide feedback on the verification carried out. Optionally, the command and control unit 50 can supply a signal or a warning to the operator, whether automated, robotized or human, to intervene and solve, for example, the possible absence of the container C or problems of incorrect positioning, as a function of the result of the verification.

[0127] The optical inspection assembly 60 can be positioned appropriately above the zone of the object to be inspected where there is a group of containers C which are to be conveyed, filled and optionally weighed, so that the field of view of the optical inspection assembly 60 can inspect this group of containers C.

[0128] In particular, this verification or inspection step can be carried out in relation to the container C picked up by the pick-up means (Fig. 4), or to verify the correct transfer of the container C from the pick-up means 22 to the support plate 30 (Fig. 11), or also in relation to the arrangement of the container C on the weighing plate 34 (Figs. 14, 15, 16, 17).

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

[0130] According to another embodiment, which can also be combined with other embodiments described herein, when the container C is transferred by the pick-up means 22 to the support plate 30, this case can also, for example, perform a confirmation or inspection step to verify the presence of all the containers C (see FIG. 11).

[0131] According to yet another embodiment, which can also be combined with other embodiments described herein, when the pick-up means 22 or the support plate 30 positions the container C on the corresponding weighing plate 34 of the weighing means 33, a confirmation or inspection step can be performed to verify that all the containers C are arranged within the corresponding positioning seat 34a (see FIGS. 14, 15, 16, 17). Therefore, in this case, advantageously, for the picked-up container C, it is possible to confirm the presence of the container C on the corresponding positioning seat 34a to verify that the container C has not been lost. In some cases, in this case, it is also possible to verify the correct positioning of the container C with respect to the positioning seat 34a to prevent the container C from being in an unfavorable position for weighing and / or filling.

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

[0133] Moreover, although the present invention has been described with reference to several specific embodiments, those skilled in the art will be able to achieve many other equivalent forms of the method of moving a container within a processing line and the corresponding processing line that have the features as set forth in the claims and, therefore, fall entirely within the scope of the protection defined by the claims.

[0134] In the following claims, the sole purpose of the reference signs in parentheses is to facilitate reading, and those reference signs shall not be regarded as a limiting factor regarding the field of protection claimed in a particular claim.

Claims

1. A method of moving a container (C) in a processing line (10), the processing line (10) comprising a station (11) for storing and picking up the container (C) and a station (12) for at least filling the container (C), the method comprising, at the storage and pick-up station (11), supplying a container holding tray (15) containing a plurality of the containers (C), the plurality of containers (C) being arranged in order in a pattern defined by a positioning matrix (M1) on the container holding tray (15) with the mouth (43) of the container (C) facing the bottom wall (17) of the container holding tray (15), supplying the container holding tray (15); inverting the container (C) arranged on the container holding tray (15) by inverting means (20), the inverting means (20) including an inversion tray (20a), the inversion tray (20a) being configured to engage at least a part of the container (C) according to the pattern defined by the positioning matrix (M1) and to be coupled to the container holding tray (15), the inverted container (C) being supported at the bottom by the inversion tray (20a), providing the inversion of the container (C), the method also comprising moving a pick-up means (22) relative to the inversion tray (20a) to pick up two or more containers (C) arranged in two parallel consecutive rows (I, II) of the positioning matrix (M1), a first container (C1) of the two or more containers (C) being located in the first row (I) and a second container (C2) of the two or more containers (C) being located in the second row (II), the pick-up means (22) being moved in a pick-up direction (W) on a horizontal plane such that when the pick-up means (22) moves towards the inversion tray (20a) in the pick-up direction (W), the pick-up means (22) first encounters the first container (C1) to be picked up and then encounters the second container (C2) to be picked up further downstream in the pick-up direction (W), moving the pick-up means (22); Subsequently, moving the two or more containers (C) picked up by the picking means (22) toward the at least filling station (12). **Claim 2** The method provides for performing at least a first relative movement regarding the engagement of the picking means (22) with respect to the inversion tray (20a) on a horizontal plane in order to engage at least a part of the containers (C) present in the inversion tray (20a) and hold them by the picking means (22). The method also provides for a second relative movement of the picking means (22) with respect to the inversion means (20) so as to remove the containers (C) held in the picking means (22) from the inversion tray (20a) in order to move the containers (C) held in the picking means (22) toward the at least filling station (12). The method according to claim 1. **Claim 3** The picking means (22) moves the container (C) toward the at least filling station (12) in cooperation with a support plate (30). The support plate (30) is provided with a plurality of support seats (31) into which the picking means (22) places the container (C). The method according to claim 1 or 2. **Claim 4** The support plate (30) carrying the container (C) is moved toward filling means (40) provided at the at least filling station (12), and providing for aligning the rows of the containers (C) present on the support plate (30) in a direction perpendicular to the filling means (40). The method according to claim 3. **Claim 5** The at least filling station (12) is a filling and weighing station. The support plate (30) is also moved toward weighing means (33) associated with the filling and weighing station. The method provides for aligning the rows of the containers (C) present on the support plate (30) in a direction perpendicular to the weighing means (33) so as to align each formed opening (32) made in each support seat (31) of the support plate (30) with a corresponding weighing plate (34) of the weighing means (33) that cooperates with the container (C) through the formed opening (32). The method according to claim 4. **Claim 6** When the rows of the containers (C) present on the support plate (30) are aligned in the vertical direction with respect to each of the weighing means (33), the support plate (30) and the weighing plate (34) are To perform a weighing operation, a first movement is performed to bring the support plate (30) and the weighing plate (34) closer to each other such that the weighing plate (34) is inserted into the respective formed openings (32) of the support plate (30). Subsequently, a second movement is performed to move the support plate (30) and the weighing plate (34) away from each other such that the weighing plate (34) is released from the respective formed openings (32) of the support plate (30), according to the method of claim 5.

7. The removal means (22) moves the container (C) towards the at least one filling station (12) in order to cooperate with filling means (40) provided at the at least one filling station (12), and aligns the rows of the containers (C) present in the removal means (22) in the vertical direction with the filling means (40), according to the method of claim 1 or 2.

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

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

10. The method positioning the container (C) at the receiving seat (34a) by the removal means (22) or by the support plate (30) into which the container (C) has been transferred by the removal means (22), Weighing all of the containers (C) present in the accommodation seat portion (34a) of the weighing plate (34) to weigh the total tare weight, Sequentially filling each of the containers (C), and after each filling step, gradually determining the weight of the product metered into a specific container (C) by the weighing device (33a). After measuring the total tare weight, without removing the container from the weighing plate (34), subtracting the value of the total weight determined in the immediately preceding weighing step from the total weight determined in each case to determine the weight of the product metered into each container (C). The sequential determination is performed for this purpose, The method according to claim 9, comprising:

11. The taking-out means (22) includes a taking-out gripper (22a), and the taking-out gripper (22a) is provided with a plurality of spaced-apart arms (23) that are parallel to each other and define a gripping receiving opening (24). Each of the arms (23) includes an array of holding seat portions (25) composed of a plurality of holding seat portions (25) shaped to support respective containers (C). Each holding seat portion (25) includes respective support portions (29) facing each other from both sides of the same one gripping receiving opening (24). The support portions (29) have depressions on respective arms (23) to receive respective containers (C) corresponding to portions (44) of the necks (41) of the containers (C) and place them on the support portions (29). The method according to any one of claims 1 to 10,

12. Providing for moving at least the container holding tray (15), the inversion tray (20a), and the taking-out means (22) by automatic or robotic gripping and moving means (38). The method according to any one of claims 1 to 11,

13. A processing line for processing containers (C), A station (11) for storing and picking up the containers (C), A station (12) for at least filling the containers (C), and comprising: In the storage and pick-up station (11), A container holding tray (15) on which a plurality of containers (C) can be pre-positioned in a state where the mouth portion (43) faces the bottom wall (17) of the container holding tray (15) according to a pattern defined by a positioning matrix (M1). A container holding tray (15), Inverting means (20) including an inversion tray (20a), which is arranged on the container holding tray (15) to invert at least a part of the container (C), and is configured to keep the inverted container (C) supported at the bottom by the inversion tray (20a) according to the pattern defined by the positioning matrix (M1). There is provided inverting means (20), and the processing line exists on a horizontal plane and includes picking means (22) configured to be reciprocally movable with respect to the inversion tray (20a) in the picking direction (W). The picking means (22) is adapted to pick up two or more containers (C) arranged on two parallel consecutive rows (I, II) of the positioning matrix (M1) from the inversion tray (20a). A first container (C1) among the two or more containers (C) is located in the first row (I), and a second container (C2) among the two or more containers (C) is located in the second row (II). The first row (I) is upstream of the second row (II) with respect to the movement toward the inversion tray (20a) in the picking direction (W). After the two or more containers (C) are picked up by the picking means (22), the picking means (22) is adapted to move the two or more containers (C) toward the at least filling station (12). Processing line.

14. The at least filling station (12) is a filling and weighing station including weighing means (33). The weighing means (33) includes a weighing instrument (33a) supporting a weighing plate (34). The weighing plate (34) is provided with a plurality of receiving seats (34a) each configured to receive and support a corresponding container (C). The processing line according to claim 13.

15. The taking-out means (22) includes a taking-out gripper (22a), and the taking-out gripper (22a) is provided with a plurality of spaced-apart arms (23) that are parallel to each other and define a gripping receiving opening (24). Each of the arms (23) includes an array of holding seats (25) composed of a plurality of holding seats (25) that are shaped to support the respective containers (C). Each holding seat (25) includes respective support portions (29) that face each other from both sides of the same one gripping receiving opening (24). The support portions (29) have depressions on the respective arms (23) in order to receive the respective containers (C) corresponding to the portions (44) of the necks (41) of the containers (C) and place them on the support portions (29). The processing line according to claim 13 or 14.

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