How to Weigh a Container

Abstract

A method for weighing containers (C) in a processing line (10) comprising a station (12) for filling and weighing containers (C), the method providing for simultaneously picking up a plurality of containers (C), which are first weighed to determine their tare weight and then subsequently filled in a sequential manner, and determining the weight of the product weighed into each container (C).

Description

[Technical Field]

[0001] The present invention relates to a weighing method capable of weighing one or more containers adapted to contain various types of products, both fluid and solid and powdered, for example medicines, food or beverages.

[0002] The methods described herein can be performed at a filling and weighing station of a processing line, which may include multiple other processing stations, including, for example, at least one storage station for empty containers and a subsequent station for capping or closing filled containers.

[0003] The methods described herein are suitable for use, for example, in connection with machines for filling containers and / or for automatically transporting containers to and from one or more processing stations.

[0004] The term "product" or "substance" means any liquid, semi-solid, gel, or solid composition, which may be powdered or granular, and may be of plant, and / or animal, and / or chemical origin.

[0005] By way of non-limiting example only, the method according to the present invention can be used in the pharmaceutical, cosmetic, healthcare, chemical and / or food sectors. [Background technology]

[0006] In the industrial sector of automatic container filling, there are conventionally various devices or machines configured as process lines, within which one or more containers are moved to or from one or more process stations, which are advantageously arranged in succession.

[0007] The processing stations may include, for example, a storage station for empty containers, one or more weighing stations, a station for filling the containers, a station for closing each container, and a station for packaging the filled containers in preparation for delivery of the finished product or storage in a warehouse.

[0008] An example of a known type of processing line is described in Patent Document 1, which sequentially comprises a first weighing station for empty containers, a station for filling the containers with a filling unit provided with a nozzle for delivering the product, a weighing station for the filled containers, and a station for closing the containers. This known processing line provides for determining the tare weight of the container to be filled at the first weighing station, and verifying, at a second station for weighing the filled containers, whether the weight of the delivered product corresponds to the expected weight, possibly taking into account a certain range of tolerances. If it is detected that the amount of product present in one or more containers is less than the expected amount, a robotic arm is provided to move the filling unit to the second weighing station for the filled containers. In this case, only the nozzles located corresponding to the containers with less product than expected are selectively activated to deliver the missing amount of product.

[0009] One drawback of this processing line is the complexity of the mobile filling unit, which requires flexible tubing to supply the nozzles with the product, as well as several independently operable peristaltic pumps to determine the selective delivery of the product from only one or more of the nozzles. The containers in question can be flasks, for example bottles, or in any case containers of similar or equivalent shape, capable of containing fluid products, in particular liquids, or solid and powder or gel products.

[0010] Movement of containers between processing stations, and sometimes within processing stations, is typically performed using mechanical and motorized transport devices or conveying apparatuses, including, for example, conveyor belts, turntables or carousels, gears, chains, slides, lifters, mechanical arms, sometimes robotic members, and other mechanical members.

[0011] Regardless of the type of conveying device used, containers that can at least initially be positioned in the appropriate seats of the container-holding tray must be picked up, individually or in groups, by appropriate pick-up members for subsequent filling, weighing and closing operations.

[0012] The containers are then picked up to be moved to subsequent processing stations, particularly for filling and weighing. One of the important aspects of these filling machines is that they must be weighed before they are filled, after they are filled and possibly even during the filling step in order to accurately determine the amount of product that has been measured into each container. Furthermore, especially in certain sectors, such as the pharmaceutical sector, each weighing must be extremely accurate and precise, even with a tolerance of the order of one milligram, in order to achieve the correct dosage.

[0013] Generally, in this connection, a plurality of weighing elements or scales, e.g., load cells, are used, on each of which an empty container is placed. Typically, weighing elements are provided, each of which is configured to weigh a predetermined amount of product into a corresponding empty container. In practice, the tare weight of a container is determined, product is weighed into that container, and then the so-filled container is weighed, and the net weight of the weighed product is determined by the difference relative to the tare weight. This sequence of operations is repeated for all containers to be processed, whether the containers are fed individually or in groups, significantly increasing processing time and reducing the productivity of the filling machine and the overall productivity of the processing line.

[0014] Furthermore, the use of multiple weighing elements, each used to weigh both the tare and total weight of a particular one of the individual containers, can result in both a multiplication of measurement errors resulting from the multiple weighing elements used, as well as a large number of correlated measurement errors and at least a large number of weighing operations to be performed. Even if the product is accurately weighed, the use of different weighing elements can also result in measurement discrepancies and propagation of uncertainty, particularly with respect to the accuracy and repeatability of tare and total weight measurements on the same container.

[0015] This aspect is even more critical, for example, in the pharmaceutical sector, where the amounts of ingredients to be measured out are often very small and the tolerances required are also very small. Another aspect to consider is that containers are often provided in container-holding trays according to a so-called "quincunx" spatial configuration, resulting in rows of adjacent containers that are staggered to optimize volume occupancy.

[0016] While this spatial arrangement allows for maximizing the number of containers placed in the container-holding tray, it also makes it difficult to pick up the containers, so that in the prior art, only a few containers placed in the same row can be picked up at a time, which is reflected in the subsequent filling, weighing, and closing steps of the picked containers, which are performed on only a small number of containers.

[0017] This also significantly increases the processing time for a given group of containers, reducing overall productivity, since only a few can be moved at a time. Furthermore, this also significantly increases the number of moves, resulting in increased energy consumption, wear, and overheating of the motorized units of the associated moving equipment.

[0018] Therefore, there is a need to develop a method for weighing containers in 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 weighing multiple containers that reduces the number of errors that can occur in determining the weight.

[0019] Another object of the present invention is to provide a weighing method that is not affected by, or in any case minimizes, uncertainties or differences in weight measurements. It is yet another object of the present invention to provide a weighing method that reduces the processing time for a given group of containers.

[0020] It is yet another object of the present invention to provide a weighing method which minimizes the number of movements required. The applicant has conceived, tested and embodied the present invention to overcome the shortcomings of the prior art and to obtain these and other objects and advantages. [Prior art documents] [Patent documents]

[0021] [Patent Document 1] U.S. Patent Application Publication No. 2015 / 0034207 Summary of the Invention

[0022] The present invention is set forth and characterized in the independent claims, while the dependent claims describe other features of the invention or variants on the main inventive idea. In accordance with the above objectives, some embodiments described herein relate to a method for weighing containers in a processing line comprising at least a station for filling and weighing containers, the station being provided with a filling means and a weighing means including a balance supporting a weighing plate.

[0023] The weigh plate is provided with a plurality of locating seats, each configured to receive and support a corresponding container. The above method is - picking up a plurality of empty containers from a pick-up station and moving the plurality of empty containers towards a filling and weighing station; - positioning each of said containers in a corresponding one of said plurality of positioning seats; - carrying out, by means of such a weighing device, a weighing of the total tare weight of the containers inserted in the positioning seats, in particular by weighing all empty containers initially present in the corresponding positioning seats of the weighing plate; - sequentially filling each of the containers with a predetermined dose of product by means of a filling means, said sequential filling being carried out without removing the containers from the scale after the step of carrying out a total tare weighing as described above, while the containers remain accommodated in the positioning seats of the weighing plate; - measuring the weight of the product weighed into a first of these containers by subtracting from the total weight determined at the end of the filling of the first container (C) the value of the total tare weight previously determined in the step of carrying out the tare weighing, and then - measuring the weight of the product dispensed into each container after the first container, by subtracting from the total weight determined at the end of filling each container the value of the total weight measured at the end of filling the immediately preceding container.

[0024] Advantageously, firstly, the method allows a larger number of containers to be moved at one time than could be moved using prior art methods, thus reducing the number of moves involved as well as overall move time and increasing productivity.

[0025] In particular, reducing the number of movements is advantageous because, in addition to reducing the operating time, this also entails reduced energy consumption, reduced wear and reduced overheating of the motorized units of the associated movement devices, which is even more advantageous when the movements are carried out, for example, by automatic or robotic devices.

[0026] Furthermore, performing only one tare weighing for a given group of containers residing in the corresponding multiple positioning seats of the weighing plate associated with a particular scale also reduces errors in measuring the weight of the product weighed into each container. This is primarily due to the use of a single scale to weigh multiple containers positioned in the corresponding positioning seats of the weighing plate, instead of multiple weighing elements each dedicated to weighing a single container. In fact, the net weight of each filling operation is advantageously calculated by the difference between two weight measurements performed by the same scale before and after a particular filling operation, so that any measurement errors are subtracted, not added, as may occur in the prior art. Furthermore, the number of weighing operations performed for a given amount of containers to be processed is reduced.

[0027] Another embodiment also relates to a station for filling and weighing containers, comprising container removal means for removing a plurality of containers from a container-holding tray, filling means, and weighing means. The weighing means includes a scale supporting a weighing plate provided with a plurality of positioning seats, each positioning seat configured to receive and support a corresponding container. Such removal means is configured to move the containers relative to the filling means and weighing means, or alternatively, a support plate is optionally provided for moving the containers relative to the filling means and weighing means.

[0028] According to one embodiment provided herein, a station for filling and weighing containers comprises a weighing means including a scale supporting a weighing plate provided with a plurality of positioning seats, each positioning seat configured to receive and support a corresponding container, and a filling means configured to sequentially fill each of such containers with product at the filling and weighing station. The filling and weighing station also comprises a programmable central control unit operatively connected to such weighing means, i) first obtaining from a scale a total tare weight measurement of all of the containers inserted into the positioning seats; ii) subsequently driving the filling means to sequentially fill each of said containers with a predetermined dose of product while said containers remain seated within said locating seats of said weighing plate; iii) again, and subsequently thereafter, a programmable central control unit configured to obtain from the scale a measurement of the weight of the product weighed into each container by subtracting from the total weight measurement obtained for each fill the total weight measurement obtained during the immediately preceding fill, which measurement corresponds to the total tare weight when a first container of the plurality of containers is filled.

[0029] Another further embodiment relates to a processing line for processing containers, comprising a station for storing and picking up containers and a station for filling and weighing those containers as described herein.

[0030] These and other aspects, features and advantages of the present invention will become apparent from the following description of some embodiments, given by way of non-limiting example with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0031] [Figure 1]1 is a schematic top view of a line for processing containers in which a method for weighing containers according to some embodiments described herein is performed at least between a station for storing and picking up containers and a station for filling and weighing containers. [Figure 2] 1 is a cross section of a container that can be used in embodiments described herein. [Figure 3] 10A-10C are perspective views of steps of cooperation between the container-holding tray and the removal means in the embodiment described herein; [Figure 4] 10A-10C are top plan views of steps of cooperation between the container-holding tray and the removal means in the embodiments described herein. [Figure 5] 6 is a cross section taken along line VI-VI in FIG. 4. [Figure 6] 12 is a perspective view of a support plate having a container positioned thereon that cooperates with an ejection means according to some embodiments described herein; FIG. [Figure 7] FIG. 10 is a top view of a support plate according to some embodiments described herein. [Figure 8] 1A-1C are schematic cross-sections of steps of a weighing method according to some embodiments described herein. [Figure 9] 10 is a schematic cross-section of another step of a weighing method according to some embodiments described herein. [Figure 10] 1 is a perspective view of a support plate according to some embodiments described herein with a container positioned thereon that cooperates with a weighing means according to some embodiments described herein; FIG. [Figure 11] FIG. 1 is a perspective view of a weigh plate according to some embodiments described herein. [Figure 12] 1 is a schematic top plan view of a weighing means according to some embodiments described herein. FIG. [Figure 13] 1 is a schematic side view, partially in cross section, of a weighing means according to some embodiments described herein; [Figure 14]FIG. 10 is a perspective view of a weigh plate according to another embodiment described herein. [Figure 15] 1 is a graph showing a trend of weight (y-axis) over time (x-axis) detected by a weighing means according to some embodiments described herein. DETAILED DESCRIPTION OF THE INVENTION

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

[0033] Reference will now be made in detail to possible embodiments of the invention, one or more examples of which are illustrated in the accompanying drawings. Each example, along with related embodiments, structural details, language, and terminology, is provided as an illustration of the invention to provide a non-limiting example. For example, one or more features shown or described, while part of one embodiment, can be changed or employed on or in conjunction with other embodiments to produce another embodiment. It will be understood that the invention includes all such modifications and variations.

[0034] The embodiments described in this specification using the accompanying drawings relate to a method for weighing containers C in a line 10 for processing containers C, a station 12 for filling and weighing containers C, and a line 10 for processing containers C.

[0035] In addition to the filling and weighing station 12, the processing line 10 may also include a station 11 for storing and picking up empty containers, as well as other possible processing stations 14, such as a station for closing or capping the containers C, and possibly a labeling station, a packaging station, or other stations configured to perform other operations (see, for example, FIG. 1).

[0036] According to a possible embodiment, the processing line 10 may also comprise a plurality of transfer means 39, which are shown diagrammatically in Figure 1. The transfer means 39 may for example be positioned corresponding to at least the processing stations 11, 12.

[0037] The moving means 39 is configured to move in space a tray, plate, or other device or means in general capable of supporting and positioning a plurality of containers C, preferentially in a stable and defined manner, relative to the processing station described above, as described in detail below.

[0038] The locomotion means 39 may for example be selected from the group comprising an automatic locomotion device, a robotic locomotion device, in particular a humanoid robot, a magnetic or electric locomotion device or other known device or a combination of these devices.

[0039] The filling and weighing station 12 may include, be associated with, or be remotely connected to a command and control unit 50 configured to control and manage at least the functions of the filling and weighing station 12.

[0040] For example, the command and control unit 50 can control and command the operation of the moving means 39 in particular in a manner consistent with a preset working cycle and / or a working cycle selectable in each case, and also as a function of the product to be weighed and the batch of containers C to be processed.

[0041] It should also be pointed out that in this case, and in the context of this specification, the filling and weighing station 12 can be understood as a station in which, in addition to filling, weighing operations are performed both before filling when the containers are empty (tare) and after filling the containers (gross weight). In this particular case, the overall purpose of weighing is to detect the net weight of the product being weighed into each container C; typically, the total weight is measured at the time the product is weighed into the container C; and since the weight measured before filling, for example of a single container C, is known, it is possible to calculate the net weight of the product weighed into each container C by difference from the total weight, using this weight measured before filling as a reference or tare. This weight detection and determination of the net weight of the weighed product can be managed and controlled by a command and control unit 50, which receives signals associated with the weight measurements performed.

[0042] It is also to be made clear that the expression "filling and weighing station 12" as used herein should not be considered in a limiting sense. For example, this expression can cover both the case where the filling and weighing station 12 is equipped with a weighing means and a filling means that cooperate directly and are located close to each other, and the case where the filling and weighing station 12 provides two zones or sub-stations that are distanced, separated or located far away from each other, the first of which is equipped with a weighing means for taring the containers C and the second of which is equipped with a filling means and a weighing means for filling and weighing the amount of product to be weighed into each container C.

[0043] Furthermore, according to some embodiments described herein, we refer, by way of non-limiting example, to a type of container C, which can be better seen in, for example, FIG. 2 , configured as a flask or bottle capable of containing fluid products, in particular liquids, or solid and powder or gel products. In these possible embodiments, the container C has a neck 41 protruding from a containing body 42 and a mouth 43. The neck 41 has a protruding annular rim 44 at the top corresponding to the mouth 43, while at the opposite end there is a bottom end 45. It is clear that the container C can also have other shapes and sizes, and in some cases may not even be similar or equivalent to the shapes and sizes of a flask or bottle.

[0044] According to some embodiments, the method provides for the use of a container-holding tray 20 (FIGS. 1, 3, and 4) that can be associated with the storage and pick-up station 11 and / or the filling and weighing station 12 (FIG. 1).

[0045] Moving means 39 may advantageously be provided and configured to move the container-holding tray 20 . A predetermined number, even several or even several tens of empty containers C, are pre-positioned on the container-holding tray 20 to form an ordered group of containers C according to a positioning matrix M1 (FIG. 3). The positioning matrix M1 is defined, for example, by the arrangement of the containers C in the container-holding tray 20 according to a pattern of rows and columns. In this case, and throughout the present specification, we may also use the term "row" to identify a line or column of containers C (see, for example, rows I and II in FIGS. 3 and 4), where row refers to a sequence of elements, in this particular case, containers C, that are aligned with one another. Due to this pattern, for example, containers C in one row are offset with respect to containers C in the adjacent rows, i.e., one element in one row is located in the space between two elements in the following and preceding rows. As a result, the spatial arrangement is optimized, ensuring that the container-holding tray 20 can accommodate as many containers C as possible. This spatial arrangement of the containers C, which is specific to this sector, is also referred to in technical terms as a "quincunx" arrangement.

[0046] The container-holding tray 20 is provided with a plurality of receiving seats 21 for receiving and positioning the containers C. The receiving seats 21 are mutually arranged according to the configuration of the positioning matrix M1 and are configured to receive and support the bottom ends 45 of the corresponding containers C with the mouths 43 of the corresponding containers C facing upward.

[0047] The container-holding tray 20, and in particular the corresponding receiving seats 21, can be adapted in various ways. In one possible exemplary embodiment, the receiving seats 21 may define a precise, defined space in which the containers C may be placed, but may not provide any lateral support for the containers C. For example, in a "quincunx" arrangement, the containers C are not positioned in contact, but are in close proximity to one another and are self-supporting to one another in the event of a collision.

[0048] Alternatively, in another exemplary embodiment, the receiving seat 21 can be made to fit within the thickness of the container-holding tray 20 and can advantageously have a depth to allow lateral support of the container C when it is positioned therein. For example, the receiving seat 21 can have a circular cross-section that follows the substantially cylindrical shape of the container C. The receiving seat 21 can advantageously have a lateral size that is slightly larger than the lateral size of the container C to allow stable positioning of the container C, but with some play to facilitate subsequent pick-up of the container C.

[0049] It should be noted that in this case, the containers C are arranged in the container holding tray 20 in the manner and orientation described above, either because they have been pre-supplied in this manner or because they have undergone an inversion operation from an inverted state in which the mouths 43 face downwards to a state in which the mouths 43 face upwards.

[0050] The weighing methods described herein provide for the use of removal means 22 configured to engage at least a portion of the containers C disposed on the container-holding tray 20 to remove a plurality of such containers C, transport the removed containers C, and make the transported containers C available to the filling and weighing station 12. These removal means 22 may be associated with the storage and pick-up station 11 and / or the filling and weighing station 12 and / or may be movable at least between such stations.

[0051] In some embodiments, the removal means 22 are configured to be reciprocally movable in a pick-up direction W (FIGS. 3 and 4) relative to the container-holding tray 20, for example in a substantially horizontal plane. According to a possible embodiment, this pick-up direction W can be transverse, more particularly perpendicular, to the respective rows of containers C of the positioning matrix M1. In this particular case, the pick-up direction W can be transverse, more particularly perpendicular, to the periphery of the container-holding tray 20.

[0052] In a possible embodiment, the removal means 22 are adapted to pick up at least two containers C, which are arranged on at least one corresponding row of the positioning matrix M1.

[0053] In another possible embodiment, the removal means 22 is adapted to pick up at least two containers C arranged on two parallel consecutive rows I, II of the positioning matrix M1 from the container-holding tray 20, the first container C being positioned in the first row I and the second container C being positioned in the second row II. In the positioning matrix M1, the first row I is located outside the second row II in the pick-up direction W (see, for example, Figures 3 and 4). In this way, as the removal means 22 moves in the pick-up direction W towards the container-holding tray 20, the removal means 22 first encounters the first container to be picked up and then the second container to be picked up, i.e., the second container further downstream.

[0054] According to some embodiments, the ejection means 22 includes or is configured as an ejection gripper 22a, for example as shown in FIGS. The removal means 22 may include or be associated with a particular one of the movement means 39 suitable for moving the removal gripper 22a according to requirements, as will be explained below. For example, in one embodiment, the removal means 22 may be associated with a movement means configured as an automatic robotic arm.

[0055] According to a possible embodiment, the removal means 22 are configured to perform at least a first relative movement of engagement with the container-holding tray 20 in order to engage at least a part of the group of containers C arranged in the receiving seats 21 of the container-holding tray 20, so as to engage and hold the containers C by the removal gripper 22. In particular, the removal means 22 is configured to pick up containers C from at least one row of containers C or from at least two parallel consecutive rows I, II of containers C. Alternatively, it is not excluded that such a first relative movement is achieved by moving the container-holding tray 20 relative to the removal gripper 22a.

[0056] Preferably, the pick-up gripper 22a is configured to simultaneously pick up two or more containers C, particularly three or more, more particularly four or more, or even all of the containers C, from one row I in order to reduce processing and movement times and the number of movements, and may also simultaneously pick up two or more containers C, particularly three or more, more particularly four or more, or even all of the containers C, from one consecutive row II parallel to row I. While pick-up from one row or two rows I and II is described here, it is clear that the present invention can be applied to pick up containers C from three or more rows, for example, three, four, five, six, or even seven or more, or even from all of the rows of the container-holding tray 20.

[0057] The removal gripper 22a is also configured to perform at least a second relative movement with respect to the container-holding tray 20 so as to remove the container C positioned in the receiving seat 21 from the container-holding tray 20 in order to move it to the next processing station, in this particular case the filling and weighing station 12. In a possible implementation, for this purpose the removal gripper 22a can be moved in a lifting movement, or alternatively the removal gripper 22a can be kept stationary and the container-holding tray 20 can be moved, in particular in a downward movement.

[0058] As described above, the removal gripper 22a can be moved by a moving means or moving device 39 associated with the removal gripper 22a, which allows both relative movement of the removal gripper 22a with respect to the container C to be engaged and picked up when the removal gripper 22a moves relative to the container holding tray 20, and also movement of the container C within space to reach the filling and weighing station 12.

[0059] According to some embodiments, at least during the first relative movement of the engagement as described above, the removal gripper 22a is configured to be operatively aligned with the rows or columns of the positioning matrix M1 of the container holding tray 20 so as to accommodate the corresponding row of containers C therein, as shown in FIG. 4.

[0060] In some embodiments, the filling and weighing station 12 includes a weighing means 33, which is described in detail below (FIGS. 8-14). Furthermore, the filling and weighing station 12 may include a filling means 40, represented diagrammatically in Figure 1 and also visible in Figures 8 and 9, configured to fill each of the containers C with a metered amount. The filling means 40 may, for example, be a nozzle or similar delivery or metering device.

[0061] For example, the filling means 40 can be a single delivery or weighing device in a fixed position, or an array of delivery or weighing devices located in a fixed position, or one or more delivery devices that are movably positioned to move relative to the corresponding containers C to be filled. For example, by way of example, Figure 8 shows the filling means 40, and Figure 9 shows the filling means 40 in solid lines and a possible plurality of filling means 40 in dashed lines.

[0062] Furthermore, although the filling means 40 is shown in Figures 1, 8 and 9 as an example substantially corresponding to the weighing means 33 so that the same container C is in fact stationary relative to the weighing means 33 at least during the operations of weighing the tare, filling and weighing the total weight, the present invention can also envisage embodiments in which, always within the context of the filling and weighing station 12 as defined in the present specification, the filling means 40 is positioned at a distance and / or remotely relative to the weighing means 33 used to perform, for example, weighing the tare, and therefore the same container C can be moved relative to the weighing means 33 provided for weighing the tare, and relative to the filling means 40 and weighing means 33 for weighing the total weight and thereby obtaining the net weight of the weighed product.

[0063] For example, an autonomous weighing means 33 may be provided at a distance from the filling means 40, and once the tare weight of a container C has been weighed only once as described herein, the same container C may be moved correspondingly to the filling means 40, where a certain amount of product is weighed into the particular container C.

[0064] The container C is then subsequently moved to the weighing means 33 where the total weight of the particular filled container C is weighed and a net weight is obtained from the total weight. The container C is then subsequently moved again to the filling means 40 where another filling of another container C is carried out. Finally, the container C is again moved to the weighing means 33 where the total weight of the particular other filled container C is weighed, and so on, progressively proceeding in this manner until all containers of a given group of containers C have been filled and weighed.

[0065] Advantageously, in all embodiments described herein, the weighing means 33 and the filling means 40, as well as their mutual operation, can be managed and controlled by a command and control unit 50. The command and control unit 50 is able to coordinate the movement of a plurality of containers C according to the methods described herein, as well as the various operations and the particular sequence of those operations performed at the filling and weighing station 12, and in particular by the filling means 40 and the weighing means 33.

[0066] According to a possible embodiment, the filling and weighing station 12 may also include support means, in particular a support plate 30, configured to receive the containers C from the removal means 22, in this particular case from the removal gripper 22a, and to support those containers C at least during the filling and weighing operations, or to be associated with or cooperate with them.

[0067] If a support plate 30 is provided or used, a moving means 39 may also be provided for moving the support plate 30 . According to an embodiment in which the support means is configured as a support plate 30, the support plate 30 is provided with a plurality of support seats 31, which are arranged relative to one another according to a configuration defined by the positioning matrix M1, for receiving groups of containers C moved by the removal gripper 22a.

[0068] In embodiments where a support plate 30 is provided as a means for cooperating the container C with the filling means 40 and the weighing means 33, each support seat 31 has a shaped opening 32 on its bottom surface to allow cooperation with the weighing means 33, which will be described in detail below (see, for example, Figures 8 to 11).

[0069] In embodiments contemplated using a support plate 30, the removal gripper 22a performs a first alignment movement relative to the support plate 30 to align the container C with the underlying support seat 31 vertically relative to the positioning matrix M1. Furthermore, the removal gripper 22a is also configured to perform a second downward movement such that the container C is inserted into the support seat 31 (FIG. 6), and then to retract, essentially in a movement opposite to the previous movement, to disengage the container C, so that the container C remains accommodated by the support seat 31 of the support plate 30. Alternatively, the support plate 30 can also be moved relative to the removal gripper 22a.

[0070] The support seat 31 can be made to fit within the thickness of the support plate 30 and can have a depth to allow lateral support of the container C when the container C is positioned therein. In the embodiment described herein, the support seat 31 has a circular cross section that follows the substantially cylindrical shape of the container C. The support seat 31 can have a lateral size that is slightly larger than the lateral size of the container C to allow stable positioning of the container C, but with some play to facilitate subsequent pick-up of the container C.

[0071] As mentioned above, in an embodiment in which the support plate 30 is used as a moving means for bringing the containers C into cooperation with the filling means 40 and weighing means 33 of the filling and weighing station 12, each support seat 31 has on its bottom surface a shaped opening 32 (Figures 7, 8, 9) for enabling cooperation with the weighing means 33, which are also suitably shaped (Figures 8, 9, 10, 11), as will be explained in detail below. For example, the shaped opening 32 may have a configuration in which three angled arms extend from a central zone, for example the arms are equally angled at about 120° relative to one another, and in particular can assume the shape of a three-pointed star.

[0072] In some embodiments, which can be combined with all embodiments described herein, the weighing means 33 (FIGS. 8, 9, 10, 11, 12, 13, and 14) includes at least one scale 33a and a corresponding scale plate 34 associated with the at least one scale 33a. The at least one scale 33a may include, for example, a load cell or other weight detector. A corresponding scale plate 34 having a plurality of positioning seats 34a is mounted on the at least one scale 33a. In this way, the method thus provides for weighing multiple containers C supported by the same scale plate 34 with the associated scale 33a (FIGS. 8, 9, 10, 11, 12, 13, and 14).

[0073] Thus, in some embodiments, the weighing method and associated filling and weighing station 12 are capable of initially taring a container C when it is empty, and subsequently measuring the total weight as the container C is filled. In particular, for multiple containers C positioned in the positioning seats 34a of the weighing plate 34 of the scale 33a, the total tare is weighed only once, and then the containers C are filled one by one, with the net weight of the weighed product being obtained for each fill by the difference relative to the total weight detected in the previous fill, except for the first fill, in which case the difference is calculated relative to the single weighing of the tare as described above.

[0074] In particular, in the embodiment described using Figures 7, 8, 9, 10, 11, 12, 13 and 14 and which can be combined with all the embodiments described in this specification, each of the positioning seats 34a is advantageously adapted to position the corresponding container C, preferably in a stable manner, for the purpose of weighing the measured amount of product being introduced by the filling means 40.

[0075] The weighing means 33 may include one or more balances 33a of the type described herein. For example, the weighing means 33 may include a single balance 33a supporting a weighing plate 34 having a plurality of positioning seats 34a, or may include a plurality of such balances 33a, each of which is equipped with a weighing plate 34 having a plurality of positioning seats 34a.

[0076] In some embodiments, it is possible to provide for one or more filling means 40 for each weighing vessel 33a, but in any case, the number of filling means 40 is less than the number of corresponding positioning seats 34a of the corresponding weighing vessel 33a. In this case, such one or more filling means 40 can be movable in at least two degrees of freedom, i.e., at least lateral displacement and lifting / lowering, to accommodate the multiple positioning seats 34a of the corresponding weighing vessel 33a. Alternatively, it is also possible to provide multiple filling means 40 for each weighing vessel 33a, the number of which is equal to the number of corresponding positioning seats 34a, and in this case, the filling means 40 can be movable in one degree of freedom, i.e., lifting / lowering.

[0077] In this case, it should be pointed out that according to the present invention, the removal means 22, or alternatively the support plate 30, or possibly other means capable of picking up multiple containers C, can pick up multiple containers C, whether they belong to a single row of the container holding tray 20 or to multiple rows, the number of which is equal to or greater than the number of weighers 33a and filling means 40 provided, preferably a multiple of that number, preferably a multiple.

[0078] 8 to 14, the number of positioning seats 34a for each weighing plate 34 can advantageously be two or more, for example three, four, five, six or even seven or more. These positioning seats 34a can also be arranged in several consecutive rows, depending on their number and operational requirements, each row being able to provide in this case two or more, for example three, four, five, six or even seven or more, positioning seats 34a.

[0079] As mentioned above, this weighing method may provide for the containers C to be moved by the support plate 30, or directly by the removal means 22 that picks up the containers C from the container-holding tray 20, or by other suitable pick-up and transfer means. In a possible variant, the mode in which the containers C are supported may be changed; for example, the containers C may be supported at their bottoms 45 by the support seats 31 of the support plate 30, or they may be kept suspended from above by holding the protruding annular edges 44 of their necks 41 with the removal grippers 22a. This different support mode may also mean different configurations of the weigh plate 34 used, in particular how the positioning seats 34a are made or defined to respectively match the configuration of the support plate 30 or the removal grippers 22a or other pick-up and transfer means.

[0080] In particular, Figures 8, 9 and 10 are used to explain an embodiment in which the support plate 30 positions the container C relative to the filling means 40 and also relative to the weighing means 33 equipped with a suitable weighing plate 34, which will be described with reference to Figures 8 to 11. Alternatively, it is also possible to use the removal means 22 directly for this purpose, in this case using, for example, the weighing plate 34, which will be described with reference to Figures 12 to 15. According to another alternative, it is also possible to use other pick-up and transfer means, for example of the vacuum type, such as suction cups.

[0081] In any case, the advantages of being able to pick up and move a plurality of containers C, which are then filled and weighed by a weighing means 33 provided with a scale 33a including a weighing plate 34 having a plurality of positioning seats 34a, are clear; indeed, not only is the number of weighing operations reduced, but the number of scales 33a used is also reduced, as it is even possible to use a single scale 33a equipped with the weighing plate 34 described herein for a given plurality of containers C, thereby reducing the number of weight measurement errors. Furthermore, uncertainties or discrepancies in the determination of tare weights, and therefore the weights of the weighed products, can be eliminated or reduced, shortening the processing time for a given group of containers and minimizing the number of movements required.

[0082] For example, Figures 8, 9 and 10 show some embodiments in which the support plate 30 exemplarily positions the container C relative to the filling means 40 (shown only in Figures 9 and 10) and in relation to the weighing means 33. In this case, the support plate 30 can also be used to support the container C during a weighing operation carried out by the weighing means 33 present in the filling and weighing station.

[0083] In this case, the embodiments of the weighing plate 34 described using Figures 8, 9, 10 and 11 can be advantageously used in connection with the support plate 30. In particular, in these embodiments, the weighing plate 34 has a support shank 35, which supports at one end a positioning plate 36, which is arranged in particular transversely to the support shank 35. A positioning seat 34a is provided on the positioning plate 36. The support shank 35 is mounted on or connected to a corresponding weighing scale 33a.

[0084] In these embodiments, a number of rods 37 project from the positioning plate 36, each supporting an appropriately shaped support element 38. Each support element 38 has an upper surface defining a corresponding positioning seat 34a. The support elements 38 are advantageously adapted or shaped in a manner that matches the shape of the openings 32 in the support plate 30. In a possible implementation, the support elements 38 can be shaped as three radial arms, for example as in Figures 8 to 11.

[0085] In particular, in these embodiments, the fact that the support elements 38 are supported by corresponding rods 37 and protrude from the positioning plate 36 makes it possible for the support elements 38 to be selectively passed through the openings 32 in the support plate 30 so that each container C can be positioned on the corresponding positioning seat 34a, preferably in a stable manner.

[0086] In another embodiment, not shown but whose implementation is easily understandable by a person skilled in the art, the support plate 30 is not used and the removal means 22, in particular the removal gripper 22a, directly positions the container C with respect to the filling means 40 and in relation to the weighing means 33. In this case, the removal means 22, in particular the removal gripper 22a, can also be used to support the container C during the weighing operation carried out by the weighing means 33 present in the filling and weighing station.

[0087] Therefore, in this further case, the embodiments of the weighing plate 34 described using Figures 12, 13 and 14 can be advantageously used in connection with the removal means 22, in particular the removal gripper 22a. With regard to these embodiments, only the differences with respect to the weighing plate 34 of the embodiment of Figures 8 to 11 are described herein, while the other parts or components are the same unless otherwise specified. Therefore, in these embodiments, there is no support element 38 supported by rods 37 protruding from the positioning plate 36, and the positioning plate 36 has a plurality of positioning seats 34a formed by hollow portions or recesses in the positioning plate 36.

[0088] In particular, in these embodiments, the container C carried by the removal means 22 can be freely inserted into the corresponding positioning seat 34a from above, and is preferably partially contained within the positioning seat 34a in a stable manner and rests on the bottom of the positioning seat 34a.

[0089] In some embodiments described using Fig. 14 and which can also be combined with the embodiments of Figs. 8-11, 12, and 13, the weighing plate 34 can have a plurality of protruding pegs 36a arranged corresponding to each positioning seat 34a. Advantageously, the arrangement and configuration of the pegs 36a are intended to provide the functions of centering and radially receiving a container C positioned in the corresponding positioning seat 34a. The pegs 36a can, for example, protrude from the corresponding weighing plate 36 and can be arranged around each positioning seat 34a, as shown by way of example in Fig. 14 and as is also possible in the embodiments described with reference to Figs. 12 and 13.

[0090] As mentioned above, the presence of pegs 36a having the same function as above can also be provided in the embodiments of Figures 9, 10 and 11. In this case, the pegs 36a protrude from each of the corresponding support elements 38 and are in fact arranged around the corresponding positioning seats 34a. For example, if the support elements 38 are shaped as radial arms, the pegs 36a can be provided at the end of each radial arm.

[0091] Furthermore, in the embodiment described using Figures 12, 13 and 14, the positioning seats 34a of the corresponding weigh plates 34 are, for example, aligned with one another; however, the inventors do not exclude that the positioning seats 34a can also be arranged in an offset or staggered spatial configuration, for example as a "quincunx" as in Figures 8, 9, 10 and 11, or in other spatial configurations or orientations. For example, as can be seen in Figure 11, the positioning plate 36 can be suitably shaped in a manner that matches the desired configuration, in this case a "quincunx". Depending on the arrangement of the multiple positioning seats 34a provided in the weighing plate 34, as explained using Figures 8, 9, 10, 11, 12, 13 and 14, the support plate 30 carrying the container C, or the removal gripper 22a if the support plate 30 is not used, is appropriately moved relative to the weighing means 33 so that the container C is coordinated and aligned with the multiple positioning seats 34a.

[0092] According to some embodiments of the weighing method described herein, multiple containers C are simultaneously positioned in each positioning seat 34a of the weighing plate 34 of the corresponding scale 33a of the weighing means 33 using the support plate 30, or alternatively using the removal gripper 22a directly, or using other suitable pick-up and movement means.

[0093] For example, the multiple positioning seats 34a of each weighing plate 34 can be arranged to cooperate with one, two or more rows of containers C that are supplied by the support plate 30, or alternatively, supplied by the same removal gripper 22a, for weighing purposes, without removal from the corresponding support seat 31 in which the containers C are housed.

[0094] In an embodiment described herein, for example with reference to Figures 8 to 11 and which is also valid when removal means 22 is used instead, as an alternative to support plate 30, with reference to Figures 12 to 14, the support plate 30 is configured to perform at least a first alignment movement with respect to the weighing means 33, so as to align the shaping openings 32 with the positioning seats 34a of each weighing plate 34 in the vertical direction with respect to the positioning matrix M1 (Figure 8). In this case, the weighing plates 34 described using Figures 8 to 11 are used, in which case advantageously the protruding support elements 38, each having a corresponding positioning seat 34a, are aligned with the corresponding shaping openings 32, so that the support elements 38 can pass through the shaping openings 32. Furthermore, the support plate 30 is also configured to perform a second movement, in this case involving the support elements 38 and the corresponding positioning seats 34a passing through the openings 32 so that the containers C are placed one by one in the corresponding positioning seats 34a due to the presence of the openings 32 (Figure 9), and then to rise again to disengage the support elements 38 and remove the containers C from the corresponding positioning seats 34a.

[0095] In the case of the embodiment of Figures 8 to 11, and also in the case of the embodiment of Figures 12 to 14 by appropriately using the removal means 22 instead of the support plate 30, by repeating this series of movements, the support plate 30 is progressively advanced in steps relative to the weighing means 33 in coordination with the distance between the row of containers C and the positioning seats 34a, and all containers C present on the support plate 30 are progressively positioned in the corresponding positioning seats 34a. In this case, the tare weight of the group of containers C present on the weighing plate 34 is once weighed, and then filling of each container C is carried out. At the end of each operation of filling a particular container C, the total weight of the containers C present on the weighing plate 34 is measured, and the net weight of the product weighed into that particular container C is calculated based on the difference from the weight measured in the previous step. The weight measured in the previous step is initially the tare weight of the container C, whereas in the subsequent steps it is the total weight measured in the previous filling. In another advantageous embodiment, a plurality of positioning seats 34a, the total number of which is at least equal to the number of containers C, is present on the corresponding weighing plate 34, so that the tares of all containers C present on the support plate 30 or on the removal means 22 can be weighed simultaneously, so that the above-mentioned series of movements only needs to be carried out once, allowing the sequential filling and weighing of the amounts of product to be weighed into all subsequent containers C inserted in the positioning seats 34a to proceed. After each filling, the net weight of the product weighed into each container C can be determined based on the difference from the initially determined tare weight in the case of the first filling, or the difference from the total weight detected in the previous filling. This determination can advantageously be carried out by the command and control unit 50.

[0096] In particular, the embodiments described herein provide for performing a tare weighing operation only once for all containers C positioned in the corresponding positioning seats 34a of the weighing plate 34, and therefore, by moving a greater number of containers C at once, it is possible to advantageously reduce the number of times that tare weighing of containers C is performed or to process weighing operations for a greater number of containers C using a smaller number of scales 33a.

[0097] In particular, the weighing means 33, in which each weighing machine 33a is provided with a specific weighing plate 34 having a plurality of positioning seats 34a according to the embodiment described in this specification, advantageously makes it possible to make the weighing step of the tare faster and more accurate, thus significantly improving the efficiency and accuracy of the weighing procedure and, consequently, of the entire processing cycle.

[0098] In fact, the weighing plate 34 provided with multiple positioning seats 34a makes it possible to position multiple containers C supported by the weighing plates 34 associated with corresponding scales 33a so that the tare weights of all such containers C can be weighed in just one go at the start of a weighing cycle for a given group of containers C.

[0099] 15, which shows a graph of the trend of weight (y-axis) progressively detected by the scale 33a against time (x-axis), it can be seen that the weight detected by the scale 33a at time t0, for example when all the containers C are positioned in their corresponding positioning seats 34a and are empty, i.e. before filling, represents the weight of all the empty containers C, i.e. the tare weight, or in any case a reference value or zero weight. This tare weight is the initial weight value to which the subsequent operation of weighing the first container C being filled by the filling means 40 refers. In the graph of FIG. 15, the tare weight is indicated by P0 at the instant t0.

[0100] Then, at time t1, a quantity of product is weighed into one of the containers C and weight P1 is detected, then at time t2, a quantity of product is weighed into another one of the containers C and weight P2 is detected, and so on, and these weight measurements are repeated incrementally a number of times "m" equal to the number of positioning seats 34a on each weighing plate 34, i.e., a number of times equal to the number of containers C to be filled and weighed on the same weighing scale 33a.

[0101] With the exception of the first weight detected before the start of filling, which is the tare weight of all "m" containers C present in the positioning seats 34a of each weighing plate 34 associated with the corresponding scale 33a, all subsequent detected weights are total weights resulting from the sequential weighing of product into each container C. Thus, for example, the net weight of product weighed into a first container C being filled will be given by the difference between the detected total weight P1 and the initially detected tare weight P0, while the net weight of product weighed into a second container C being filled will be given by the difference between the detected total weight P2 and the preceding total weight P1, and so on. It can therefore be stated that the total weight detected in a given weighing operation, following an initial operation of taring a container C when it is empty, actually represents a reference weight from which, in subsequent operations of weighing the total weight, the net weight of the products weighed in that given subsequent operation is calculated.

[0102] Therefore, in some embodiments, the weight of the product weighed into container C is determined by measuring the difference between the weight detected by scale 33a during the first fill and the total tare weight of container C initially detected by scale 33a, and then subsequently by measuring the difference between the weight detected by scale 33a during another fill and the weight detected by scale 33a during the immediately preceding fill.

[0103] In general, therefore, the net weight N(i+1) of product weighed into a given container C at time i+1 by the filling means 40 will be defined by the difference between the current weight P(i+1) detected by the scale 33a and the total weight P(i) detected by the same scale 33a during the previous filling carried out at time i, i.e. N(i+1)=P(i+1)-P(i), In the formula, i is a natural number greater than or equal to 0 and less than or equal to m, and m is the number of containers C that are positioned and supported within the positioning seats 34a of the corresponding weighing plates 34 associated with the weighing device 33a.

[0104] Therefore, as a result of what has been explained above, the graph of Figure 15 can therefore be considered a "step-shaped" graph of weight against time, with each step representing an increase in weight detected by the scale 33a, and the substance of each step actually corresponding to the net weight of product weighed in a particular filling, and therefore the weighing method described herein can be said to be a "step-type" weighing method.

[0105] Therefore, in some embodiments, the weighing method comprises: - simultaneously picking up a number of empty containers C from the container-holding tray 20 and moving them towards the filling and weighing station 12 for cooperation with the filling means 40 and the weighing means 33; positioning the empty containers C in the positioning seats 34a of each weighing plate 34 associated with the corresponding balance 33a, by the removal means 22 or by the support plate 30 into which the containers C have been transferred by the removal means 22, so that each container C is positioned, preferably in a stable manner, in a specific positioning seat 34a of the corresponding weighing plate 34; - carrying out a single tare weighing by weighing all empty containers C initially present in the corresponding positioning seats 34a of the weighing plate 34; - for a given group of containers C to be filled and weighed, without carrying out tare weighing of each container, filling each of the containers C in turn and progressively determining at each filling step, i.e. after each filling step, by the scale 33a, the weight of the product weighed into that particular container C.

[0106] As mentioned above, the pick-up step can be performed by an automated robotic arm. According to some embodiments of the method described herein, the sequential filling step provides for operating the filling means 40 to deliver predetermined doses of product until a predetermined weight is reached as measured by the weigher 33a, and delivery of product into each of the plurality of containers C is interrupted once the predetermined weight is reached.

[0107] If the weighing means 33 includes a plurality of weighing scales 33a, the step of carrying out a single weighing of the tare and the step of filling and weighing the containers C of each weighing plate 34 in turn can advantageously be carried out in parallel for each of the weighing scales 33a provided.

[0108] As mentioned above, for the purpose of determining the weight of the product weighed into a particular container C by the weigher 33a, after each filling step, the net weight N(i+1) of the product weighed by the filling means 40 at time i+1 is given by the difference between the weight P(i+1) detected at such time i+1 and the weight P(i) detected at the preceding time i.

[0109] As a result, one advantage provided by the embodiments of the weighing method described herein is evident in the possibility of incrementally measuring the gross weight for each of the containers C and deriving the net weight N therefrom. This is because the tare weights have been measured, and in particular because advantageously the tare weighing is not carried out individually for all of the "m" containers C to be weighed, but only once by the same scale 33a at the beginning of the weighing cycle. As a result, these embodiments save m-1 tare weighing operations and m-1 movements of the containers C, which has considerable advantages in terms of time, less wear on the moving means, less energy consumption of the automated moving system used, and less overheating.

[0110] Another advantage achieved is that a higher weighing accuracy is achieved than in the prior art, in which each scale is provided with its own weighing plate, which has a single positioning seat for receiving the corresponding container to be filled and weighed. Indeed, using a single scale to weigh multiple containers C with their corresponding weighing plates 34 prevents the addition of multiple measurement errors, which, on the other hand, can occur when using multiple scales. Therefore, it is also possible to reduce errors by setting precision thresholds for the tare weighings for the various scales used. Furthermore, the method described herein allows for a reduction in measurement errors, since for the same number m of containers C to be weighed, fewer measurements are performed, which reduces the probability of error. In particular, in the method described herein, m+1 measurements are actually performed to weigh m net weights, taking into account the initial tare weight as well, whereas in the prior art method, 2, which means weighing the tare and gross weight for each of the m containers, is performed. * m measurements are performed.

[0111] Therefore, the present invention, by virtue of the configuration of a corresponding weighing plate 34 having multiple positioning seats 34a, provides for weighing the tare weight of multiple containers C at once using a single scale 33a and a single operation, reducing the risk of introducing errors due to tare weighing for a given group of containers C to be weighed, which is particularly noticeable when using multiple different scales 33a.

[0112] In other words, the present invention allows for tare weighing to be performed fewer times, ideally just once, for a given group of containers C, and also allows for the use of fewer scales than in the prior art, thereby reducing the possibility of errors in tare weighing that would be introduced by using a larger number of scales.

[0113] This is particularly important for weighed products of very small and precise amounts, such as in the pharmaceutical field, since tare weighing is performed simultaneously on several containers by a single scale, thereby preventing the propagation of errors that, in the prior art, can otherwise be found due to different tare thresholds or settings between the scales used.

[0114] At the same time, in the present invention, as described above, it is also possible to weigh a greater number of containers C due to the fact that multiple containers C can be fed and moved simultaneously by the removal gripper 22a or alternatively by the support plate 30.

[0115] In any case, it should also be pointed out that the use of support means, in this particular case support plates 30, may be optional. Indeed, in a possible embodiment, the filling and weighing of the containers C may be carried out directly by using the removal means 22, in particular the removal gripper 22a, and more particularly by moving the containers C, held in place, by the removal gripper 22a, in order to place them in cooperation with the filling means 40 or the weighing means 33.

[0116] For example, in the embodiments described herein involving the use of the removal means 22 and possibly the support plate 30, or other pick-up and transfer means, the additional advantage of moving a plurality of containers C picked up from the container-holding tray 20, possibly even all of the containers C present in the container-holding tray 20, by the removal means 22, which is advantageously provided with removal grippers 22a, and by the support plate 30 or the removal means 22 itself, is evident. This advantage relates in particular to a reduction in the number of container C transfers involved in the weighing operations and therefore an increase in the overall productivity of the processing line 10, reduced energy consumption, overheating and wear of the corresponding transfer means.

[0117] According to some embodiments, this weighing method is for picking up and transferring a container C from the container-holding tray 20. - providing a container-holding tray 20 containing a plurality of containers C arranged side by side according to a pattern of rows and columns defined by a positioning matrix M1; - moving removal means 22 in a pick-up direction W relative to the container holding tray 20 and picking up at least two containers C from the container holding tray 20, which are arranged on at least one row of the positioning matrix M1, possibly on at least two parallel consecutive rows I, II, by moving these removal means 22.

[0118] When picking up from multiple parallel rows, the first container C among these containers C is positioned in the first row I and the second container C is positioned in the second row II, and in the positioning matrix M1, the first row I is outer than the second row II with respect to the pick-up direction W.

[0119] Picking up and transferring such a group of containers C, including at least a first container C and a second container C, as defined above, in at least one row, or possibly two parallel consecutive rows, allows for faster transfers and generally reduces the displacement of containers C between processing stations, transfer times, and number of transfers, reducing wear on moving parts, overheating, and energy consumption, and increasing the overall productivity of processing line 10. In fact, in this way, all containers C located in container-holding tray 20 can be sufficiently picked up each time and transported to filling and weighing station 12 with fewer transfers.

[0120] According to the embodiments described herein, the container-holding tray 20 and / or the removal gripper 22a can be moved relative to each other by corresponding moving means 39 to pick up multiple containers C. For example, the removal gripper 22a holds the containers C by at least performing a first relative movement of engagement with the container-holding tray 20 (pick-up direction W, FIGS. 3 and 4 ) to engage with at least some of the group of containers C arranged in the receiving seats 21 of the container-holding tray 20. Alternatively, the container-holding tray 20 can be moved in accordance with the first relative movement of engagement with the removal gripper 22a.

[0121] Once the container C is engaged, a second relative movement, e.g., transverse, particularly perpendicular, to the pick-up direction W, can be performed between the removal gripper 22a and the container-holding tray 20 to remove the container C from the container-holding tray 20. In a possible implementation, for example, the removal gripper 22a can also perform at least a second relative lifting movement, transverse, particularly perpendicular, to the pick-up direction W, with respect to the container-holding tray 20, to remove the container C held by the removal gripper 22a from the container-holding tray 20 in order to move the container C to the next filling and weighing station 12 (FIG. 5). Alternatively, the removal gripper 22 can be kept stationary, and the container-holding tray 20 can be moved transverse, particularly perpendicular, to the pick-up direction W, particularly downward.

[0122] Continuing thereafter, the method described herein may provide for the removal gripper 22a to move the container C towards the filling and weighing station 12, in particular towards the support plate 30, if provided, for depositing the container C in a corresponding support seat 31 of the support plate 30 (FIG. 9), or directly towards the filling means 40 and associated weighing means 33. Filling and weighing can then be carried out as described above with reference to FIGS. 8, 9 and 10. In any case, the support plate 30 is adapted in such a way that the container C can be filled and weighed without being removed and / or detached from the support plate 30 itself, with obvious advantages in terms of operation time and with fewer movements. As already explained above, it is also possible to use the removal gripper 22a directly as an alternative to the support plate 30, for example by selecting a weighing plate 34 of a suitable type as shown in FIGS. 12, 13 and 14.

[0123] Also in connection with the weighing operations carried out before filling (tare weighing) and after filling, the support plate 30, if provided, is moved towards the weighing means 33, otherwise the removal gripper 22a can be used directly.

[0124] In the embodiment described herein, one or more rows of containers C present in the support plate 30 are aligned with corresponding scales 33a of the weighing means 33 such that the shaped openings 32 corresponding to one or more given rows of containers C to be weighed are aligned with corresponding positioning seats 34a of each weighing plate 34 associated with each scale 33a. When the support plate 30 is used, the support elements 38 of the weighing plates 34 on which the positioning seats 34a reside are adapted to cooperate with the shaped openings 32 so that the support elements 38 can pass through those shaped openings 32, thereby placing the containers C on the positioning seats 34a and determining the weight of the containers C in the course of a single tare weighing operation as described above, followed by subsequent determinations of the weight of the products weighed into the containers C in each successive filling carried out by appropriate filling means 40 (FIG. 9).

[0125] When one or more rows of containers C present in the support plate 30 are vertically aligned with the corresponding positioning seats 34a of the weigh plate 34, the support plate 30 and the weigh plate 34 perform a movement (FIG. 9) that brings them closer together so that the containers C are positioned in the positioning seats 34a due to the presence of the corresponding shaped openings 32 of the support plate 30, and a subsequent movement that moves them away from each other so that the support plate 30 is released from the weigh plate 34. In a possible solution shown in FIGS. 8, 9, and 10, the support plate 30 is movable while the weigh plate 34 is fixed, and the support plate 30 moves toward the weigh plate 34 so that the containers C are positioned in the positioning seats 34a of the corresponding weigh plate 34 due to the corresponding shaped openings 32 of the support plate 30, and moves away from the weigh plate 34 to lift and remove the containers C from the positioning seats 34a. However, the inventors do not exclude embodiments in which the weighing plate 34 is vertically movable to engage the containers C through the shaped openings 32. In any case, in the above-described embodiments in which the support plate 30 is used for weighing purposes, the containers C can be partially or completely released from the support plate 30. In the case of complete release, it is meant that the underside of each container C rests on the upper side of the support plate 30.

[0126] As mentioned above, in another embodiment, instead of the support plate 30, the removal means 22, in particular the removal gripper 22a, moves the containers C towards the filling and weighing station 12 so as to cooperate with the filling means 40 provided in the filling and weighing station 12, providing that one or more rows of containers C present in the removal gripper 22a are vertically aligned with the filling means 40. Furthermore, the removal gripper 22a is also moved towards the weighing means 33 associated with the filling and weighing station 12. In this case, the weighing means 33 comprises one or more scales 33a, each scale 33a being equipped with a corresponding weighing plate 34 according to the embodiment described using Figures 12, 13 and 14. The weighing means 33 can actually be essentially aligned with the filling means 40, or in any case correspond to the filling means 40. In this case, it is provided to vertically align one or more rows of containers C present in the removal gripper 22a with the corresponding weighing means 33 so as to align the containers C with the corresponding multiple positioning seats 34a (Figures 12, 13, 14) of each weighing plate 34 present on each weigher 33a.

[0127] Furthermore, the inventors do not exclude that the removal gripper 22a can be used in combination with the embodiments of the weighing device 33a described with reference to Figures 8 to 11, provided that the container C can be positioned from above on the corresponding positioning seat 34a of the particular weighing plate 34 described in these embodiments.

[0128] Therefore, in the embodiment described herein, the support plate 30, or alternatively the removal means, in particular the removal gripper 22a, or possibly other provided pick-up and transfer means, transfers a group of containers C to be filled and weighed to a weighing means 33 provided with a weighing plate 34 having a plurality of positioning seats 34a. In this case, several containers C, for example arranged along a row and advantageously equal to the number of positioning seats 34a, are positioned on the positioning seats 34a, after which a single taring operation is carried out, followed by the filling means 40 progressively measuring product into each of the containers C and measuring the weight each time, as described above with reference to Figure 15. The above operations of positioning a group of containers C in the positioning seats 34a, initial tare weighing, progressive filling of each container C of a given group, and weighing the corresponding total weight to calculate by difference the net weight of the product weighed in the particular filled container C are repeated the same number of times as the number of rows of containers C to be weighed, or a number of times that is a submultiple of the number of rows of containers C to be weighed, also based on the number and arrangement of positioning seats 34a provided on the weighing plate 34, for example, as described with reference to Figures 8 to 14.

[0129] Furthermore, it should be pointed out that in the embodiment in which the removal means 22, in particular the removal gripper 22a, instead of the support plate 30, are used directly to move the containers C, for the purpose of weighing by the weighing means 33, the containers C are preferably suitably released from the removal gripper 22a so as not to distort their weight or transmit vibrations during the weighing step itself, which can be achieved by the particular configuration of the positioning seats 34a described with the aid of Figures 12 to 14. At the end of the filling and weighing operation, it can be provided, as described above, to transfer the filled and possibly weighed containers C from the support plate 30 or from the removal gripper 22a to a subsequent processing station 14.

[0130] As already explained above, it should be pointed out that in any possible embodiment, the containers C can be picked up from the container holding tray 20 by other suitable pick-up and movement means that are not necessarily configured as removal means 22 or support plates 30, for example by vacuum pick-up means or other means that pick up the containers C from above, hold them in a grip and move them.

[0131] Furthermore, according to other embodiments, the weighing method described herein may include a control or inspection step by optical acquisition means, in particular image or video, to verify the presence or absence of containers C and / or the correct number and / or correct position of containers C at least relative to the receiving seats of the weighing plate 34.

[0132] To this end, at least one suitable optical inspection assembly 60, comprising, for example, a video camera or similar optical or video inspection means, may be provided, associated with the filling and weighing station 12, and possibly also with the storage and pick-up station 11 (FIGS. 1, 4, 6, 8-10). The optical inspection assembly 60 may advantageously be connected to the command and control unit 50, supplying the command and control unit 50 with acquired signals that are processed to provide feedback on the checks performed, and optionally, the command and control unit 50 may, as a function of the result of the check, supply a signal or warning to an operator, whether an automated, robotic or human operator, for example of a possible missing or incorrect positioning problem of a container C, so as to possibly intervene and resolve the problem.

[0133] The optical inspection assembly 60 can be suitably positioned above the target zone to be inspected, in which a group of containers C to be transported, weighed and filled is present, so that the field of view of the optical inspection assembly 60 can inspect this group of containers C.

[0134] In particular, this control or inspection step can be carried out in connection with the container C picked up by the removal means (Figure 4), or to verify the correct transfer of the container C from the removal means 22 to the support plate 30 (Figure 6), or also in connection with the placement of the container C on the positioning seat 34a of the weighing plate 34 (Figures 8, 9, 10).

[0135] For example, according to one possible implementation, this control step by the optical inspection assembly 60 can be performed when the removal means 22, or other pick-up and transfer means, picks up a group of containers C from the container-holding tray 20 (see FIG. 4). In this case, the control or inspection step can advantageously be aimed at verifying whether the removal means 22 has picked up all containers C.

[0136] According to another embodiment, which can be combined with other embodiments described in this specification, when the containers C are transferred to the support plate 30 by the removal means 22, a control or inspection step can also be performed in this case, for example to verify the presence of all containers C (see Figure 6).

[0137] According to yet another embodiment, which can also be combined with other embodiments described herein, when the removal means 22, or the support plate 30, or other suitable pick-up and transfer means, positions the containers C on the receiving seats 34a of the corresponding weighing plates 34 of the weighing means 33, a control or inspection step can be performed to ensure that all containers C are located in the corresponding positioning seats 34a (see Figures 8, 9, 10). In this case, it is therefore advantageous to check the presence of the container C on the corresponding receiving seat 34a for the picked-up container C in order to verify that no container C is missing. Possibly, this can also verify the correct positioning of the container C with respect to the receiving seat 34a in order to prevent the container C from being in an unfavorable position for weighing and / or filling.

[0138] It will be apparent that modifications and / or additions of steps and / or components may be made to the method for weighing containers in a processing line, the filling and weighing station, and the corresponding processing line as hereinbefore described without departing from the field and scope of the present invention, as defined by the claims.

[0139] Furthermore, although the invention has been described with reference to several particular embodiments, it is clear to a person skilled in the art that it is certainly possible to achieve many other equivalent forms of the method for weighing containers in a processing line, the filling and weighing station, and the corresponding processing line, which have the characteristics as claimed and therefore all fall within the scope of the field of protection defined by the claims.

[0140] In the following claims, the sole purpose of reference signs in parentheses is to facilitate reading and they should not be considered as limiting factors with regard to the field of protection claimed in a particular claim.

Claims

1. A method for weighing containers (C) in a processing line (10) having one or more filling and weighing stations (12) provided with filling means (40) and weighing means (33) including a balance (33a) supporting a weighing plate (34), the weighing plate (34) being provided with a plurality of positioning seats (34a), each positioning seat being configured to receive and support a corresponding container (C), the method comprising: - picking up a number of empty containers (C) from a pick-up station and moving them towards said filling and weighing station (12); - positioning each container of said plurality of containers (C) in a respective one of said plurality of positioning seats (34a); - performing, by means of said weighing scale (33a), a total tare weighing of all the containers of said plurality of containers (C) inserted in said positioning seats (34a), followed by - a step of sequentially filling each of the containers (C) with a predetermined dose of product by the filling means (40), said step of sequentially filling being carried out while the containers (C) remain accommodated in the positioning seats (34a) of the weighing plate (34), and therefore without removing the containers (C) from the scale (33a) after the step of carrying out the total tare weighing; - measuring the weight of the product metered into a first one of the containers (C), by subtracting from the total weight determined at the end of the step of filling the first container (C) the value of the weight of the total container previously detected in the step of carrying out the weighing of the total container; and then - measuring the weight of the product dosed into each container (C) after the first container (C), by subtracting from the total weight determined at the end of filling each container (C) the value of the total weight measured at the end of filling the immediately preceding container (C).

2. 2. The method of claim 1, wherein in the step of sequentially filling, the weight of each container is determined by measuring the difference between the weight detected by the scale (33a) during a first fill and the total tare weight of the container (C) initially detected by the scale (33a), and subsequently by measuring the difference between the weight detected by the scale (33a) during another fill and the weight detected by the scale (33a) during the immediately preceding fill.

3. The net weight N(i+1) of the product weighed into a given container (C) by the filling means (40) at time i+1 is defined as the difference between the current weight P(i+1) detected by the scale (33a) and the total weight P(i) detected by the scale (33a) during the previous filling carried out at time i, as follows: N(i+1)=P(i+1)-P(i) 3. The method according to claim 1 or 2, wherein i is a natural number between 0 and m, inclusive, and m is the number of containers (C) placed and supported on the positioning seats (34a) of each weighing plate (34) associated with the weighing machine (33a).

4. The method of any one of claims 1 to 3, wherein the steps of picking and moving are performed by an automated robotic arm.

5. 5. The method according to any one of claims 1 to 4, wherein in the step of sequentially filling, it is provided to operate the filling means (40) to deliver predetermined doses of product until a predetermined weight measured by the scale (33a) is reached, and the delivery of product into each container of the plurality of containers (C) is interrupted once the predetermined weight is reached.

6. - providing a container-holding tray (20) containing said plurality of containers (C) arranged side by side according to a pattern defined by a positioning matrix (M1); - moving removal means (22) in a pick-up direction (W) relative to said container-holding tray (20) and picking up, by moving said removal means (22), from said container-holding tray (20) two or more containers (C) arranged on one or more rows of containers (C) of said positioning matrix (M1), possibly on two or more parallel consecutive rows (I, II); The method of any one of claims 1 to 5, further comprising:

7. 7. The method according to claim 6, wherein the removal means (22) or a support plate (30) is used to move the plurality of containers (C) toward the filling and weighing station (12) and position the containers (C) in the positioning seats (34a), and the containers (C) are transferred to the support plate (30) by the removal means (22).

8. 8. The method according to any one of claims 1 to 7, comprising a step of controlling or checking by optical acquisition means to verify the presence or absence of containers (C) and / or the correct number of containers (C) and / or the correct position of said containers (C) relative to at least said positioning seats (34a) of said weighing plate (34).

9. a station for filling and weighing containers (C), - comprising pick-up means (22) commanded to pick up a number of empty containers (C) from the pick-up station and move them towards the filling and weighing station (12); The filling and weighing station (12) comprises: - weighing means (33) including a balance (33a) supporting a weighing plate (34) provided with a plurality of positioning seats (34a), each positioning seat (34a) adapted to receive and support a corresponding container (C); - filling means (40) adapted to fill each of said containers (C) successively with a product (P) at said filling and weighing station (12); - a programmable command and control unit (50) operatively connected to at least said weighing means (33) and said filling means (40); i) first obtaining a total tare weight measurement from the scale (33a), which is a measurement of the total tare weight of all containers (C) of the plurality of containers (C) inserted in the positioning seats (34a); ii) subsequently driving the filling means (40) to sequentially fill each of the containers (C) with a predetermined dose of product while the containers (C) remain seated in the positioning seats (34a) of the weighing plate (34); and iii) subsequently obtaining from said scales (33 a) a measurement of the weight of the product weighed into each container (C) by subtracting a previous measurement, which is a measurement of the total weight obtained at the time of the previous filling, from a measurement of the total weight obtained for each filling, wherein when a first container of said plurality of containers (C) is filled, said total tare measurement is used as said previous measurement.

10. 10. The station according to claim 9, wherein the weighing plate (34) has a support shank (35) which supports a positioning plate (36) at one of its ends, the positioning seat (34a) being provided on the positioning plate (36), and the support shank (35) being connected or mounted on the weighing machine (33a).

11. a support plate (30) having a through opening (32) and configured to move the container (C) relative to the filling means (40); 11. The station of claim 10, wherein the weighing plate (34) has a plurality of rods (37) protruding from the positioning plate (36), each of the plurality of rods (37) supporting a support element (38), each of the support elements (38) having an upper surface defining one of the positioning seats (34a), the support elements (38) being configured to match the shape of the through openings (32) of the support plate (30) to allow the containers (C) to pass through the through openings (32) and be placed on the respective positioning seats (34a).

12. 11. The station according to claim 10, wherein the positioning plate (36) of the weighing plate (34) has a plurality of positioning seats (34a) formed in the positioning plate (36) by hollow portions or recesses so that the container (C) is inserted from above by the pickup means (22).

13. A station as described in claim 12, wherein the pick-up means (22) can be associated with an automated robotic arm.

14. The station according to any one of claims 9 to 13, further comprising an optical inspection assembly (60) configured to verify the presence or absence of containers (C) and / or the correct number of containers (C) and / or the correct position of the containers (C) relative to at least the positioning seats (34a) of the weighing plate (34).

15. Station according to any one of claims 9 to 14, wherein the positioning seats (34a) are arranged in register with one another or in a staggered or spatially staggered arrangement.

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