Method and apparatus for automatically extending the opening flap of a sealed package

Abstract

A method and apparatus (10, 110) for automatically extending an opening flap (20) of a package (11) containing at least one object (12), the apparatus comprising a suction gripping member (25) configured to selectively and at least temporarily, but in a stable manner, cooperate with the package (11) to identify the opening flap (20) and enable it to be gripped for further processing.

Description

[Technical Field]

[0001] The present invention relates to a method and a corresponding device for automatically stretching the opening flap of sealed packages, such as bags, sacks, sachets made of thin, flexible material such as plastic, paper, fabric, etc., for containing objects, such as containers or supports, for example for bottles, vials, flasks, etc. in the chemical, medical or pharmaceutical sector, in order to facilitate the identification of the opening flap and make it available for further processing, in particular for cutting the flap itself. [Background technology]

[0002] In the chemical, medical and pharmaceutical fields, it is known that products and substances can be packaged in specialized containers suitable for containing single or multiple doses to facilitate the task of sorting and administering said doses.

[0003] These known containers may be, for example, bottles, flasks, vials, syringes, cartridges, such as those used in syringes themselves for administering anaesthetics or other drugs.

[0004] These known containers are transported and often filled neatly arranged in racks or trays, also known to those skilled in the art by the English term "nests", which are contained in slightly larger trays, also known to those skilled in the art by the English term "tubs".

[0005] To ensure protection of the contents of the container from the risk of external contamination and to prevent leakage of the substance contained in the container, for example after breakage or damage during transport, the tub is sealed inside the original package or bag, which is usually made of a thin, flexible polymer material or filter / Tyvek paper.

[0006] The first bag containing the tab is then sealed inside a second package or bag, also made of a thin, flexible polymer material, which increases safety and eases transport, and allows, for example, for a barcode or QR code to be applied to the second bag, which greatly speeds up automatic recognition of the bag's contents.

[0007] This type of packaging is very efficient in automated processing lines, where various industrial machines and robots can recognize and process the various sealed tabs inside the bag, without the need for external operator intervention, ensuring fast execution and a high level of safety in the process, especially when working in a sterile environment.

[0008] Thus, to remove individual tabs from the two bags, an operator or automated machine simply needs to identify the opening flap of each bag, which is usually located on one side of the bag, cut it and remove the contents.

[0009] However, identifying the opening flap can be particularly difficult when deformations or wrinkles occur, particularly when using automated machinery, and in some cases it may be difficult or impossible to automatically recognize the flap itself and, for example, cut it open.

[0010] In particular, devices for redirecting bagged rigid or semi-rigid objects are known which use rotating brushes to orient the objects in a particular direction, whereby the opening flap is positioned to be cut by rubbing against the rotating brush, but these generate many particles which contaminate the typically sterile environment in which these devices normally operate.

[0011] This known device is also not very suitable for transferring delicate or fragile objects, including chemicals and / or pharmaceuticals. Moreover, the relative height between the rotating brushes must be constantly changed and adapted to the actual size of the bag being processed, making the device not very efficient and reliable.

[0012] To identify the opening flap of a sealed bag, devices are also known which comprise a sharp tubular element or needle, which is inserted inside the bag itself and blows pressurized air into the bag, inflating it like a balloon, making it easier to identify the opening flap to cut. Inserting a needle into a sealed bag means that the needle needs to be sterilized before use, which makes the corresponding method very long and tedious.

[0013] However, this solution is not well suited when it is necessary to treat packaging or containers that contain chemicals or pharmaceuticals, which can react with the blown air, for example, and impair their quality and possibly their usability.

[0014] Also known are devices for the automatic handling of packages that are configured to operate in a controlled environment at a pressure lower than atmospheric pressure, a so-called "vacuum" environment: in fact, the creation of a vacuum in the environment in which the package is located causes the volume of air contained within the package to expand, stretching the outer surface of the package and allowing the subsequent identification of the opening flap.

[0015] However, this known device is very complex and expensive, since it is necessary to create a vacuum or an appropriate reduced pressure in the plant and to keep the working environment airtight, and its operation is particularly complex, which makes it expensive from a maintenance point of view.

[0016] Furthermore, devices are known which have a rotating gripper suitable for gripping a portion of a package, rotating on itself and sliding the portion of the package around the object contained therein, however, this known device is not suitable for effectively identifying the opening flap, especially if the package is particularly deformed or wrinkled.

[0017] So-called "stretching" devices are also known, which allow a package containing the object to pass under a fixed mechanical arm, for example by moving the object on a conveyor belt, the compression action of which causes the outer surface of the bag containing the object to stretch.

[0018] This type of solution has the drawback that it is not suitable when the objects contained in the bag are rigid, and therefore not very amenable to deformation, even risking irreparable damage to the contents.

[0019] Also known in other technical fields other than the chemical, medical or pharmaceutical fields are solutions for automatically handling groups of packaged objects using suction cups connected to a suction system.

[0020] For example, JP 02-152643 A describes a solution in which a package wrapped around a stack of printed sheets is cut and a rod is inserted into it to prevent the sheets contained therein from being damaged by operations performed on the package.

[0021] JP 05-294305 describes a solution for automatically replacing the protective film of a packaged object with a new protective film.

[0022] EP 0 625 465 A1 describes a solution that contacts objects stacked on a pallet and automatically peels off the protective sheet that is usually placed inside the packaging film that tightly encases the pallet.

[0023] These solutions are also very bulky and therefore not suitable for handling packages containing delicate or fragile objects, such as glass, including chemicals and / or pharmaceuticals.

[0024] There is therefore a need to provide a device that can automatically extend the opening flap of a sealed package containing one or more objects, in particular a container for the pharmaceutical, medical and / or chemical sector, to facilitate identification of the opening flap, which overcomes at least one of the drawbacks of the state of the art and can operate in automated processing lines, in particular when processing in a sterile environment is required.

[0025] Therefore, one object of the present invention is to complete a method and provide an apparatus for automatically extending the opening flap of a sealed package containing at least one object, such as a container for the pharmaceutical, medical and / or chemical fields, in order to facilitate identification of the opening flap of the package.

[0026] Another object of the present invention is to complete a method and provide a device for automatically extending the opening flap of a sealed package containing at least one object, such as a container for the pharmaceutical, medical and / or chemical fields, which functions in an automated manner without the need for operator intervention.

[0027] Another object of the present invention is to complete a method and provide a device for automatically extending the opening flap of a sealed package containing at least one object, such as a container for the pharmaceutical, medical and / or chemical sector, which ensures high hygiene standards and does not risk contaminating the contents.

[0028] Another object of the present invention is to complete a method and provide a device for automatically extending the opening flap of a sealed package containing at least one object, such as a container for the pharmaceutical, medical and / or chemical sector, without risk of damaging the contents,

[0029] Applicant has conceived, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other objects and advantages. Summary of the Invention

[0030] The invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention or variants of the main inventive idea.

[0031] In accordance with the above object, there is provided a method for stretching an opening flap of a sealed package containing at least one object therein with sufficient clearance, comprising: the package has a first exterior surface and the opening flap; a) providing a manipulator member having first gripping means configured to selectively and temporarily couple to the sealed package by suction; b) approximating the manipulator member and the first outer surface of the package so that the first gripping means is in front of the first outer surface; Equipped with.

[0032] According to one aspect of the present invention, the method comprises at least c) actuating the first gripping means to create a temporary but stable bond between the manipulator member and the first outer surface of the sealed package by suction, preventing relative movement between the first outer surface and the manipulator member but allowing movement of the object within the sealed package; Further includes:

[0033] According to one aspect of the present invention, the method comprises at least d) moving the manipulator member to cause relative movement between the sealed package and the object. This step d) therefore comprises shaking the at least one object in the sealed package until the opening flap is stretched, making the opening flap identifiable and available for further processing, in particular a step of cutting the stretched flap.

[0034] According to another aspect of the invention, during step d) of moving the manipulator member, the manipulator member moves with at least two degrees of freedom.

[0035] According to another aspect of the invention, the method comprises: a further step e) in which second gripping means opposite the first gripping means selectively and at least temporarily cooperate with a second outer surface of the package opposite the first outer surface to prevent relative movement between the second outer surface and the second gripping means while allowing free movement of the object within the package. Further includes:

[0036] According to another aspect of the invention, the second gripping means comprises one or more suckers or one or more suction members, The one or more suction cups or the one or more suction members may be selectively activated to establish a temporary engagement with the second exterior surface of the package.

[0037] According to another aspect of the invention, the object is sterile and comprises at least one tub and / or tray, The steps of the method as described above are preferably carried out in an environment with a controlled atmosphere.

[0038] According to another aspect of the invention, the package is a bag and the first outer surface is a wall, fold, or sheet of the bag, and similarly, the second outer surface is another wall, fold, or sheet of such a bag.

[0039] According to another aspect of the present invention, there is provided an apparatus for stretching an opening flap of a sealed package with sufficient clearance to contain at least one object therein, the package having a first exterior surface and the opening flap, the apparatus comprising: a manipulator member having first gripping means configured to selectively and temporarily couple to the sealed package, the manipulator member configured to move proximate to the first exterior surface of the package so that the first gripping means is in front of the first exterior surface, the first gripping means configured to be actuated by suction to create a temporary but stable coupling between the manipulator member and the first exterior surface, preventing relative movement between the first exterior surface and the manipulator member but allowing movement of the object within the sealed package.

[0040] According to one aspect of the invention, the manipulator member is configured to be moved to create a relative movement between the sealed package and the at least one object in order to shake the object within the sealed package until the opening flap is stretched, making the opening flap identifiable and available for further processing, in particular a step of cutting the stretched flap.

[0041] According to another aspect of the invention, the suction member of the first gripping means comprises one or more suction cups connected to a system for generating air suction.

[0042] According to another aspect of the present invention, there is provided a second gripping means opposite to the first gripping means, The second gripping means is configured to selectively and temporarily engage with a second outer surface of the package opposite the first outer surface, preventing relative movement between the second outer surface and the second gripping means while allowing free movement of the object within the package.

[0043] According to another aspect of the invention, the second gripping means comprises at least one or more suction cups connected to a system for generating air suction.

[0044] According to another aspect of the invention, the device further comprises a support member configured to be positioned below the package to support the package and optionally hold the package in correspondence with the first gripping means.

[0045] According to another aspect of the invention, the support device is configured to bring the package containing the at least one object into contact with the second gripping means, the support device having an opening sized to allow the second gripping means to selectively engage the second exterior surface of the package by passing through the opening.

[0046] According to another aspect of the invention, the manipulator member is configured as a mechanical arm associated with a robot.

[0047] According to another aspect of the invention, the manipulator member is configured to move in space with at least two degrees of freedom when swinging the at least one object within the package.

[0048] According to another aspect of the invention, the device is sized and configured to be inserted into a sterile and / or controlled atmosphere containment compartment.

[0049] According to another aspect of the invention, there is provided a unit for stretching and cutting an opening flap of a package containing at least one object, comprising: The unit comprises the above-mentioned device and a cutting device configured to cut the opening flap after it has been stretched by the device; A unit comprising:

[0050] These and other aspects, features and advantages of the present invention will become apparent from the following description of possible embodiments, given as non-limiting examples with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0051] [Figure 1] FIG. 1 is a side view of a first embodiment of an apparatus for automatically extending an opening flap of a sealed package according to the present invention, the package also shown with an object therein in a first operating state. [Figure 2] FIG. 2 is a side view of the device of FIG. 1 in a second operating state. [Figure 3] FIG. 3 is a side view of the device of FIG. 1 in a third operational state. [Figure 4] FIG. 4 is a side view of the device of FIG. 1 in a fourth operational state. [Figure 5] FIG. 5 is an enlarged perspective view of a package containing the object of FIG. [Figure 6] FIG. 6 is a schematic perspective view of the object of FIG. 1, showing an example of its contents. [Figure 7] FIG. 7 is a schematic perspective view of the device of FIG. 1, also showing a support for the package. [Figure 8] FIG. 8 is a perspective view of a second embodiment of an apparatus for automatically stretching the opening flap of a sealed package according to the present invention. [Figure 9] FIG. 9 is a perspective view of the device of FIG. 8, also showing a support for the package. [Figure 10] FIG. 10 is a schematic side view of a unit for stretching and cutting the opening flap of a sealed package, comprising a device according to the invention. DETAILED DESCRIPTION OF THE INVENTION

[0052] It must be made clear that the terms horizontal, vertical, high, low, inner, outer, upper, and lower, together with their deviations, have the sole function of better describing the invention with reference to the drawings and claims, and must not be used in any way to limit the scope of the invention itself or the field of protection defined by the appended claims. For example, the term "vertical" means a plane that is perpendicular to the horizon or inclined by a few degrees, e.g., up to 20°, relative to the horizon. Furthermore, the terms package and bag are considered synonymous.

[0053] Additionally, those skilled in the art will recognize that certain sizes or features in the figures may be enlarged, distorted, or shown in an unconventional or disproportionate manner to provide an easier to understand version of the invention.

[0054] Where sizes or values ​​are specified in the following description, the sizes or values ​​are provided for illustrative purposes only and should not be construed as limiting the scope of protection of the present invention unless such sizes and / or values ​​are present in the appended claims.

[0055] To facilitate understanding, the same reference numbers have been used wherever possible in the drawings to identify identical common elements, it being understood that elements and features of one embodiment may be advantageously incorporated in other embodiments without further specification.

[0056] 1, an apparatus 10 according to the present invention is configured to facilitate the automatic opening of a sealed package 11 containing at least one object 12, such as, for example, a container for the pharmaceutical, medical and / or chemical fields. The apparatus 10 can be placed, for example, in an automated processing line of known type or in an automated processing line (not shown) that may be developed in the future.

[0057] Before describing the device 10 in detail, for illustrative and non-limiting purposes, an example of a package 11 and an object 12 will be described.

[0058] Each object 12 (FIG. 6) may comprise or consist of a first rigid or semi-rigid vessel 13 of substantially parallelepiped shape, within which other containers may be placed, such as tubs 15, as known in the art, which in turn contain racks, trays or nests 16, which may contain chemicals and / or pharmaceuticals enclosed in flasks, vials, bottles or the like, collectively indicated at 17.

[0059] For example, in pharmaceutical applications, the standard size of the object 12 may be approximately 65x40x30 cm.

[0060] The package 11 (FIG. 5) may comprise or consist of a bag formed, for example, by two sheets 18, 19 joined parallel to one another along their peripheral edges, for example by electric welding, to define an opening flap 20, as is known in the art.

[0061] Thus, each of the two sheets 18, 19 defines an outer surface of the package 11. It should be noted that the reference numerals 18, 19 are used interchangeably to refer to these sheets and the corresponding outer surface of the package 11 that they define.

[0062] It should be noted that in possible variations not shown in the accompanying drawings, the package 11 can have a shape different from that described above, consisting of a different number of sheets, for example 3, 4 or 5 sheets.

[0063] It should be noted that package 11 typically has a sufficiently large storage volume, for example at least 20% and up to 100% larger than the volume of object 12, so that object 12 can move within package 11 while remaining sealed within package 11.

[0064] The package 11 can be made of any thin, flexible, and deformable material, allowing the package 11 to adapt to the shape of the object 12, e.g., a polymer material, e.g., a nonwoven fabric made of high-density polyethylene fibers that are tear-resistant and easily cut.

[0065] In other words, during use, the package 11 may take the shape of and collapse around the object 12 contained therein.

[0066] 1, the device 10 comprises a first moving device 21 which acts as a manipulator member and is configured to grasp the package 11 and swing the object 12 contained therein by displacement and rotation in space, as will be explained in more detail below.

[0067] The first moving device 21 (FIG. 7) comprises, for example, an upright portion 22 having a vertical longitudinal axis X, to which an arm 23 is attached which is positioned on a transverse axis Z1 which is substantially perpendicular to the longitudinal axis X.

[0068] As will be explained in more detail below, the upright 22 may, for example, be telescopic, in order to enable the arm 23 to move along the longitudinal axis X between an idle position and a working position. Obviously, other technical solutions may also be implemented in order to enable the arm 23 to move along the longitudinal axis X.

[0069] Furthermore, the connection between the upright 22 and the arm 23 can be made in such a way as to allow rotation of the arm 23 about the transverse axis Z1.

[0070] Furthermore, according to some embodiments not shown in the drawings, the base of the upright 22 can be mounted on a rotating support rather than on a fixed structure, the support can be electrically or mechanically driven and the upright 22 itself, and thus the arm 23, can be configured to rotate about the longitudinal axis X.

[0071] Furthermore, arm 23 is shaped to have one or more cantilevered extensions 24, and by way of non-limiting example, in the embodiment shown there are three extensions 24. It should be noted that the number of extensions 24 can be chosen as desired depending on the size of device 10 and the size of package 11.

[0072] Disposed at the bottom of each extension 24 is a first gripping element 25 oriented downwardly and configured to be selectively and temporarily coupled to the outer surface of the first sheet 18 of the package 11 .

[0073] The first gripping element 25 may, for example, comprise suckers of a type known per se, or any other member capable of exerting an adhesive force by applying a local vacuum, ensuring a temporary but stable bond with the outer surface of the package 11.

[0074] In the embodiment shown, the first gripping element 25 is connected via a suitable pipe 26 to a device 27 for generating air suction, which may be of any known type and may, for example, comprise a compressor.

[0075] The device 27 for creating an air suction is configured to create at least a partial reduced pressure relative to the atmosphere or to the compartment in which the device 10 is housed.

[0076] According to another possible embodiment, the first moving device 21, or at least the first gripping element 25, can be attached to the mechanical arm of a robot, for example an anthropomorphic robot, thereby allowing the same first moving device 21 the possibility to perform movements in space with several degrees of freedom, for example six degrees of freedom.

[0077] The device 10 also comprises a tray 29 configured to transport the package 11 containing the object 12 from a first position away from the device (Figure 1) to a second or working position corresponding to the first moving device 21 (Figure 2), in particular under the first gripping element 25.

[0078] The tray 29 has an appropriate size to ensure that the objects 12 contained within the package 11 are properly positioned.

[0079] The tray 29 can be mounted, for example, on the arm of an automated robot or on a simple mechanical arm (not shown) configured to cooperate with the first gripping element 25 to receive the package 11 containing the object 12 .

[0080] According to another embodiment shown in FIGS. 8 and 9, an apparatus 110 similar to apparatus 10 comprises, in addition to the elements previously described, a second moving apparatus 121 which is substantially mirror image relative to the first moving apparatus 21 .

[0081] In particular, the second moving device 121 comprises a mechanical arm 123 positioned on the horizontal axis Z2 and one or more cantilevered extensions 124, of which in the example provided here there are three, but which may be in a different number depending on the size of the package 11, in particular the second sheet 19.

[0082] Further, the second moving device 121 has second gripping elements 125 arranged on the upper part of each of the extensions 124, oriented upwardly, and configured to be selectively and temporarily associated with the outer surface of the second sheet 19 of the package 11.

[0083] The second gripping element 125, like the first gripping element 25, can also be connected by suitable pipes not shown to a device 27 for generating the suction of said air or to another similar device, which may be of any known type and for example comprises a compressor.

[0084] In the example described here, the three cantilevered extensions 124 are arranged so that the second mover device 121 is opposite the first mover device 21 .

[0085] Thus, a work compartment is formed between the two opposing transfer devices 21 and 121, into which a package 11 containing an object 12 can be placed in a subsequent operation, as will be explained in more detail below.

[0086] The size of the working compartment and therefore the distance between the two moving devices 21, 121 in the above-mentioned idle position must be such as to ensure the possibility of accurate positioning of the package 11 containing the object 12, and the minimum distance between the first gripping element 25 and the second gripping element 125 must be sufficiently greater than the height of the object 12.

[0087] Preferably, the second mover device 121 can have a movement system separate from the first mover device 21. For example, the second mover device 121 can move along the uprights 23 using a mechanism different from that used by the first mover device 21. It is therefore easy to change the size of the working compartment between the first mover device 21 and the second mover device 121.

[0088] This means that the device 110 can advantageously operate with packages 11 containing objects 12 of different sizes, for example different heights.

[0089] The device 110 also comprises a tray 129 configured to remove the package 11 containing the object 12 from the first position shown in FIG. 1 to the second position, i.e., below the first gripping element 25, and therefore in this case also corresponding to the second gripping element 125 (FIG. 9).

[0090] Additionally, the tray 129 is shaped to allow the second gripping element 125 to selectively cooperate with the second exterior surface 19 of the package 11, even if the tray 129 itself accommodates the second gripping element 125.

[0091] In the illustrated example, the tray 129 includes three cantilevered extensions 130 that mate with the cantilevered extensions 124 of the second mover device 121. Between two adjacent cantilevered extensions 130, an opening 131 is defined that is sized to allow each of the cantilevered extensions 124 to be inserted therein, such that the second gripping elements 125 can reach the second outer surface 19 of the package 11 through these openings 131.

[0092] In this way, the tray 129 and the second moving device 121 can perform relative movement with respect to each other, for example horizontally and / or vertically, without any interference between them and therefore without interfering with the operation of associating the package 11 with the second gripping element 125.

[0093] The tray 129 can be attached, for example, to the arm of an automated robot of a known type not shown, and is configured, for example, to take the package 11 and the object 12 into a working compartment contained between the first gripping element 25 and the second gripping element 125.

[0094] The apparatus 10, 110 is sized and configured to be inserted into a containment compartment or working environment having a sterile and / or controlled atmosphere of any known type, not shown.

[0095] The functions of the devices 10 and 110 described so far, as well as the corresponding methods of making them function, are as follows.

[0096] The functionality of device 10 will be described first, and then only the differences between device 110 and device 10 will be highlighted, as many of the processing steps are common to both devices.

[0097] Initially, the objects 12 sealed in the package 11 and possibly placed on a tray 29 are in a first position as shown in Figure 1. The tray 29 together with the package 11 and the objects 12 contained therein are then transported under the first gripping element 25 (Figure 2) using any known means of movement, for example a robot that can be used in the context of an automated processing line. Means of movement that do not generate particulate matter are preferred, for example a planar motor.

[0098] Then, in a next coupling step, a package 11 containing an object 12 placed on a tray 29 comes into contact with the first gripping element 25 (FIG. 3).

[0099] The first gripping element 25 of the first moving device 21 approaches the first sheet 18 of the package 11 due to the mutual approach between the first moving device 21 and the tray 29 on which the object 12 contained in the package 11 is placed.

[0100] For example, the package 11 containing the object 12 can be brought into direct contact with the first gripping element 25 by lifting it by vertically moving a tray 29 attached to the arm of an automated robot.

[0101] Alternatively, the first gripping element 25 can be brought into contact with the package 11 containing the object 12 by displacing the first moving device 21 vertically downward, for example by extension and retraction of the upright portion 22, or by vertical movement of the first moving device 21 on the same upright portion 22.

[0102] When the first moving device 21 is attached to a mechanical arm of a robot, such as an anthropomorphic robot, the mechanical arm can be programmed to automatically bring the first gripping element 25 into contact with the outer surface of the first sheet 18 of the package 11 containing the object 12.

[0103] On the other hand, device 110 (Figures 8 and 9) provides an approach between first gripping element 25 and the outer surface of first sheet 18 of package 11, and between second gripping element 125 and the outer surface of second sheet 19 of the same package 11.

[0104] For example, an object 12 contained in a package 11 arranged on a tray 129 can be taken into the working compartment as described above and then come into contact with the second gripping element 125 of the second moving device 121.

[0105] The tray 129 can be moved away from the work compartment by vertical downward displacement, for example, made possible by the fitting geometry between the same tray 129 and the second moving device 121 .

[0106] In either case, the package 11 will come into contact with both the first gripping element 25 on its upper portion, i.e., the outer surface of the first sheet 18, and also with the second gripping element 125 on its lower portion, i.e., the outer surface of the second sheet 19.

[0107] Subsequently, a device 27 (Fig. 7) for generating the suction of air is activated by a command signal from a control unit 28, for example of known type, which receives a signal from, for example, a contact or proximity sensor, also of known type and not shown in the drawings, which may be attached to the device 10, 110.

[0108] The suction action produced by the device 27 for producing air suction creates a localized reduced pressure between the first gripping element 25 and the first sheet 18 of the package 11, creating a stable grip between them, which can be interrupted at will by commanding the same device 27 for producing the vacuum suction.

[0109] As a result, the first sheet 18 of the package 11 is grasped by the first grasping element 25 of the first moving device 21, while the object 12 is not restrained by the first grasping element 25 and can therefore move freely within the package 11 (Figure 4).

[0110] In the device 110, activation of the device 27 for creating an air suction creates a localized reduced pressure between the second gripping element 125 and the second sheet 19 of the package 11, which also creates a stable grip therebetween.

[0111] Thus, the first sheet 18 of the package 11 is gripped by the first gripping element 25 of the first moving device 21, and the second sheet 19 of the package 11 is gripped by the second gripping element 125 of the second moving device.

[0112] Thus, in both cases, the object 12 is free to move within the package 11 .

[0113] The package 11 containing the object 12 is then released from the support of the tray 29, for example by moving the same tray 29 downwards.

[0114] The action of gravity on the mass of the object 12 pushes the object 12 downwards, which at least partially drags the second sheet 19 of the package 11 along, while the top of the same package 11 is temporarily but stably restrained at its top by the first moving device 21. If necessary, and where possible depending on the type of container 17 contained in the package 11, the operation of the package 11 can also be repeated several times by turning the object 12 contained in the package 11 upside down, if necessary, in order to measure more pronounced swings of the object 12.

[0115] In this way, the weight of the object 12 exerts a stretching effect on the walls forming the package 11, making the opening flap 20 more visible and easily identifiable.

[0116] In the device 110, the stretching action as described above can be assisted by a selective mutual distance between the first moving device 21 and the second moving device 121, while the first and second gripping elements 25 and 125 respectively grip the outer surface defined by sheets 18 and 19 of the package 11.

[0117] For example, when the first sheet 18 of the package 11 is gripped by the first gripping element 25 and the second sheet 19 of the package 11 is gripped by the second gripping element 125, a vertical displacement of the first moving device 21, for example in an upward direction, will at least partially drag the package 11, so that in either case its lower outer surface is at least temporarily stably gripped by the second moving device 121.

[0118] In this way, the outer surface of the package 11 is stretched, resulting in the first sheet 18 and the second sheet 19 being flattened.

[0119] The first moving device 21 can then perform translations and rotations in space in order to improve the flattening effect that the shaking movement of the object 12 causes on the walls of the package 11 .

[0120] The movement in space can be, for example, a vertical movement along a longitudinal axis X, and the rotation can include, for example, a rotation about a transverse axis Z1, a rotation about a transverse axis Z2, or a rotation about the same longitudinal axis X.

[0121] For example, the first moving device 21 can perform vertical vibration, horizontal vibration, or rotation, which allows the object 12 to move freely within the package 11 or a combination thereof, and provides a more effective flattening and stretching effect on all walls forming the package 11, i.e., its outer surfaces.

[0122] In this step, the first moving device 21 and the second moving device 121 of the device 110 may be configured to perform movements in different directions, for example in opposite or non-coincident directions.

[0123] For example, the first moving device 21 can perform horizontal vibration, while the second moving device 121 can perform vertical vibration at the same time interval, or can perform horizontal vibration out of phase with the horizontal vibration of the first moving device 21.

[0124] Subsequently, once the outer surface of the package 11 has been flattened and stretched by the action brought about by the first moving device 21 and possibly the second moving device 121, it becomes much easier, faster and more intuitive to identify the opening flap 20, and such identification can be carried out by any known or future developed device, not shown in the drawings, even an automatic device or machine capable of stretching the opening flap 20.

[0125] By way of example, and as shown in particular in Fig. 10, the apparatus 10, 110 can be advantageously used in connection with a unit for stretching and cutting the opening flap 20, generally identified by the reference numeral 50 and hereinafter also referred to simply as "unit". The unit 50 includes the apparatus 10, 110. The example shown in Fig. 10 shows the apparatus 10, but it is clear that the unit 50 can comprise, in a completely equivalent manner, the apparatus 110 shown in Figs. 8 and 9 instead of the apparatus 10. In the example shown, the manipulator member 21 is associated with a robot 51, for example a robot having six degrees of freedom, comprising a plurality of arms articulated relative to one another.

[0126] The unit 50 also includes a cutting device 52 of a known type, not described in detail here, which includes a movable or fixed cutting blade or equivalent cutting or shearing member capable of cutting the opening flap 20 to separate it from the package and define the opening, preferably in a hygienic and sterile environment.

[0127] Depending on the configuration of the cutting device 52, the unit 50 may be provided with a gripping member 53 configured to grip the free end of the opening flap 20 at least during cutting so as to keep the opening flap 20 in a properly stretched state, thereby facilitating the cutting operation performed by the cutting device 52.

[0128] It will be apparent that modifications and / or additions of components or steps may be made to the above-described apparatuses 10 and 110 without departing from the field and scope of the present invention as defined by the claims.

[0129] It will also be apparent that although the present invention has been described with reference to certain specific examples, those skilled in the art will be able to realize many other equivalent forms of apparatus and / or methods for automatically extending the opening flap of a sealed package, all of which are within the scope of the present invention.

[0130] In the following claims, the sole purpose of references in parentheses is to facilitate reading and they shall not be considered as limiting factors with regard to the field of protection defined by the same claims.

Claims

1. A method for stretching an opening flap (20) of a sealed package (11) containing at least one object (12) therein with sufficient clearance, comprising: The sealed package (11) is provided with a first outer surface (18) and the opening flap (20); a) providing a manipulator member (21) with first gripping means (25) configured to selectively and temporarily couple to said sealed package (11) by suction; b) bringing said manipulator member (21) and said first outer surface (18) of said sealed package (11) into mutual approximation so that said first gripping means (25) are in front of said first outer surface (18); c) actuating the first gripping means (25) to create a temporary but stable bond between the manipulator member (21) and the first outer surface (18) of the sealed package by suction, preventing relative movement between the first outer surface (18) and the manipulator member (21) but allowing movement of the object (12) within the sealed package (11); The method further comprises: d) moving the manipulator member (21) to create a relative movement between the sealed package (11) and the object (12), the step of moving the manipulator member (21) being carried out to shake the at least one object (12) within the sealed package (11) until the opening flap (20) is extended, making the opening flap (20) identifiable and available for subsequent processing of the sealed package (11). A method comprising:

2. During step d) of moving the manipulator member (21), the manipulator member (21) moves with at least two degrees of freedom.

2. The method of claim 1 .

3. a further step e) in which second gripping means (125) opposite the first gripping means (25) selectively and at least temporarily cooperate with a second outer surface (19) of the sealed package (11) opposite the first outer surface (18) to prevent relative movement between the second outer surface (19) and the second gripping means (125), while allowing free movement of the object (12) within the sealed package (11).

3. The method according to claim 1, further comprising:

4. the second gripping means (125) comprises one or more suction cups or one or more suction members; The one or more suction cups or the one or more suction members can be selectively activated to establish a temporary bond with the second outer surface (19) of the sealed package (11).

4. The method of claim 3.

5. The object (12) is sterile and includes at least one tub (15) and / or tray (16).

5. The method according to claim 1, wherein the method comprises:

6. The sealed package (11) is a bag, and the first outer surface (18) is a wall, fold, or sheet of the bag.

6. The method according to any one of claims 1 to 5.

7. 1. A device (10, 110) for stretching an opening flap (20) of a sealed package (11) containing at least one object (12) therein with sufficient clearance, comprising: The sealed package (11) is provided with a first outer surface (18) and the opening flap (20); the device (10, 110) comprises a manipulator member (21) having first gripping means (25) comprising a suction member configured to selectively and temporarily couple to the sealed package (11) by suction; the manipulator member (21) is configured to move close to the first outer surface (18) of the sealed package (11) so that the first gripping means (25) is in front of the first outer surface (18); the first gripping means (25) is configured to be actuated to create a temporary but stable connection between the manipulator member (21) and the first outer surface (18) by suction, preventing relative movement between the first outer surface (18) and the manipulator member (21) but allowing movement of the object (12) within the sealed package (11); The manipulator member (21) is configured to be moved to create a relative movement between the sealed package (11) and the object (12) in order to shake the at least one object (12) within the sealed package (11) until the opening flap (20) is extended, making the opening flap (20) identifiable and available for subsequent processing.

1. An apparatus (10, 110) comprising:

8. The suction member of the first gripping means (25) comprises one or more suction cups connected to a system (27) for generating air suction.

8. The device (10, 110) according to claim 7.

9. a second gripping means (125) opposite the first gripping means (25); The second gripping means (125) is configured to selectively and temporarily engage with a second outer surface (19) of the sealed package (11) opposite the first outer surface (18), preventing relative movement between the second outer surface (19) and the second gripping means (125), while allowing free movement of the object (12) within the sealed package (11).

9. Apparatus (10, 110) according to claim 7 or 8.

10. The second gripping means (125) comprises at least one or more suction cups connected to a system for generating air suction.

10. The apparatus (110) of claim 9.

11. and a support member (129) configured to be positioned below the sealed package (11) to support the sealed package (11) and, optionally, to hold the sealed package (11) in correspondence with the first gripping means (25). Device (10, 110) according to any one of claims 7 to 10.

12. the support member (129) is configured to bring the sealed package (11) containing the at least one object (12) into contact with the second gripping means (125), The support member (129) has an opening (131) sized to allow the second gripping means (125) to pass through the opening (131) and selectively engage with the second exterior surface (19) of the sealed package (11).

12. Device (110) according to claim 11, which is dependent on claim 9.

13. The manipulator member (21) is configured as a mechanical arm associated with a robot Device (10, 110) according to any one of claims 7 to 12.

14. The manipulator member (21) is configured to move in space with at least two degrees of freedom when vibrating the at least one object (12) within the sealed package (11). Device (10, 110) according to any one of claims 7 to 13.

15. A unit (50) for stretching and cutting an opening flap (20) of a sealed package (11) containing at least one object (12), comprising: The unit (50) comprises a device (10, 110) according to any one of claims 7 to 14, a cutting device (52) configured to cut the opening flap (20) after it has been stretched by the device (10); A unit (50) comprising:

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