Automated system for cleaning stalling containers

Abstract

Automated system (1) for cleaning complete stalling containers (C), comprising a disassembly station (4), a washing machine (5) and an assembly station (6) along a cleaning path (P). The automated system (1) further comprises a plurality of platforms (9) configured to support one or more containers (C), at least one self-driving vehicle (10) configured to move one or more platforms (9) along at least one portion of the cleaning path (P), a first robotic arm (7) and a second robotic arm (8).

Description

[0001] AUTOMATED SYSTEM FOR CLEANING STALLING CONTAINERS

[0002] The present invention relates to an automated system for cleaning stalling containers.

[0003] In other words, the present invention is applied in the field of cleaning complete stalling containers.

[0004] It is known that in the field of pre-clinical research, by using laboratory animals confined in stalling facilities, e.g., containers positioned on shelves, such animals must be kept in an environment of absolute hygiene and well-being. Indeed, it is well known that these factors, viz., the health and relative well-being of the animal, have a significant impact on the outcome of experimentation, e.g., on statistics aimed at studying the efficacy of a new drug.

[0005] For this reason, the containers in which the animals are confined in the stalling facilities must be constantly maintained, cleaned, sterilised and restored.

[0006] It is therefore essential that said containers, which consist of a plurality of elements, viz., trays or bowls, lids, troughs, drinking systems and any other subsystems, are uniformly processed, all in the same manner and according to the very high standards required by the field.

[0007] Furthermore, the stalling facilities, and thus the containers, are potential vehicles for allergens and contaminants towards humans, also as a function of the diseases and the relative studied cure, e.g., infectious diseases, and this possibility of contamination must also be reduced, or rather eliminated, towards the workers in the field.

[0008] It must also be noted that the trays generally contain litter, which constantly gets dirty and encrusted from animal droppings, and thus the treatment of said containers is far from simple to perform.

[0009] To date, the total absence of human contact during processing is not guaranteed, therefore the effectiveness and efficiency of the cleaning process is not yet fully satisfactory due to possible human error and inherent process variability.

[0010] The technical task of the present invention is therefore that of providing an automated system for cleaning stalling containers which is capable of overcoming the drawbacks emerging from the prior art.

[0011] The aim of the present invention is therefore to provide an automated system for cleaning stalling containers which allows to reduce, if not completely remove, human intervention during the cleaning process.

[0012] A further aim of the present invention is therefore to provide an automated system for cleaning stalling containers which allows to ensure a high level of effectiveness and efficiency of the cleaning process.

[0013] The specified technical task and the specified aims are substantially achieved by an automated system for cleaning stalling containers comprising the technical features set forth in one or more of the appended claims. The dependent claims correspond to possible embodiments of the invention.

[0014] In particular, the specified technical task and the specified aims are substantially achieved by an automated system for cleaning stalling containers, defining a cleaning path for one or more stalling containers extending between a storage station for dirty containers and a storage station for clean containers of the automated system.

[0015] According to an aspect of the present invention, the automated cleaning system is divided into a dirty zone and a clean zone.

[0016] In other words, the automated system is divided into two sectors, one in which the containers are still to be processed, and therefore dirty, and one in which the containers have been processed, and are therefore clean.

[0017] Therefore, the cleaning path extends between the dirty zone and the clean zone.

[0018] Preferably, the dirty zone and the clean zone are isolated from each other. Along the cleaning path, the automated system comprises a disassembly station for dirty containers, at least one washing machine and an assembly station for clean containers.

[0019] In the disassembly station, in use, a complete (dirty) container, viz., a container comprising, viz., defined by, a plurality of dirty components (such as a tray and at least one completely closed or grated lid), is disassembled into a plurality of dirty components of the container. The disassembly station is arranged downstream of the storage station for dirty containers.

[0020] Preferably, the disassembly station comprises preliminary cleaning means of the dirty container, suitable for carrying out a preliminary cleaning of the dirty container so as to remove encrusted dirt and / or litter residues and / or other soiling substances.

[0021] The cleaning means can comprise a scraper element and / or a shaking element.

[0022] The washing machine is configured to clean the plurality of dirty components of the container and comprises an inlet portion for dirty components and an outlet portion for clean components. The washing machine is arranged downstream of the disassembly station along the cleaning path.

[0023] Washing machine is intended as a machine adapted to wash / clean / disinfect the parts (viz., components) of the container either continuously (e.g., machine with conveyor belt) or in batches (with pieces introduced on suitable racks, which can be extracted at the end of the washing cycle).

[0024] In the assembly station, in use, the plurality of components is assembled to form a complete clean container. The assembly station is arranged downstream of the washing machine and upstream of the storage station for clean containers.

[0025] Preferably, the assembly station also comprises a dispenser configured to dispense litter, or other similar material suitable for stalling use, e.g., feed, inside the clean container. The dispenser is preferably configured to dispense litter or other material (such as feed) when the complete container is open (e.g., inside a vat and before closing it with a lid).

[0026] The automated system also comprises a plurality of platforms configured to support one or more containers.

[0027] The system also comprises at least one self-driving vehicle configured to move one or more platforms along at least one portion of the cleaning path, in particular between the storage station for dirty containers and the disassembly station and the assembly station and the storage station for clean containers.

[0028] Preferably, in the case of machine washing in batches, the self-driving vehicle can also move specific piece-carrying frame structures.

[0029] Preferably, the self-driving vehicle is configured to move along a movement path defining at least one section of the cleaning path.

[0030] Preferably, the self-driving vehicle is configured to move along a movement path coinciding with the cleaning path.

[0031] According to an aspect of the present invention, the automated system comprises at least two self-driving vehicles, each configured to move along a movement path thereof.

[0032] Preferably, the automated system comprises a first self-driving vehicle configured to move along a first defined movement path in a dirty zone of the automated system, and a second self-driving vehicle configured to move along a second defined movement path in a clean zone of the automated system.

[0033] The automated system also comprises at least one first robotic arm, arranged close to the disassembly station and the inlet portion of the washing machine. In use, the at least one first robotic arm is configured to handle and move the complete (dirty) container and the plurality of dirty components between the disassembly station and the inlet portion. According to a further aspect of the present invention, the first robotic arm is also configured to pick up the dirty containers from the platforms and to disassemble the containers into the plurality of dirty components in the disassembly station.

[0034] In use, the self-driving vehicle picks up a platform provided with at least one dirty container from the dirty container storage to transport it close to the disassembly station, viz., close to the first robotic arm. The robotic arm picks up the dirty container and positions it in the disassembly station. According to an aspect of the present invention, at this point the at least one first robotic arm will proceed to carry out the disassembly operations in the dirty components. Preferably, the at least one first robotic arm is provided with the preliminary cleaning means, viz., it is capable of using the preliminary cleaning means, viz., it is capable of making the dirty container or the dirty components interact with the preliminary cleaning means and is therefore configured to remove the soiling substances from the dirty container.

[0035] Once the dirty containers have been disassembled into the plurality of dirty components, the robotic arm will load them into the washing machine, viz., into a frame structure configured to contain a plurality of dirty components, which will then be introduced in the washing machine.

[0036] The automated system also comprises at least one second robotic arm, arranged close to the assembly station and the outlet portion, configured to handle the plurality of clean components between the outlet portion and the assembly station. The at least one second robotic arm is also configured to assembly the clean components in clean containers in the assembly station and to store the clean (complete) containers on the platforms.

[0037] In use, the at least one second robotic arm picks up the clean components from the washing machine and arranges them in the assembly station where it will perform the assembly operations to obtain a complete clean container. Preferably, during the assembly of the complete container, the second robotic arm is configured to interact with a dispenser in order to fill the clean container with clean litter and / or feed for the future uses thereof. Once the assembly operation is complete, the second robotic arm will arrange the clean container on a (clean) platform and an self-driving vehicle will transport the platform to the clean container storage.

[0038] According to an aspect of the present invention, the platform used in the dirty zone is the same as the one used in the clean zone, and the automated system can be provided with an additional washing machine configured to clean the platforms during their passage from the dirty zone to the clean zone.

[0039] Advantageously, the automated system allows to reduce human intervention, if not even eliminate it, so as to allow a high level of hygiene and minimise human error. The system which is the subject-matter of the present invention therefore allows to improve the effectiveness and efficiency of the cleaning process by means of a very high degree of automation which minimises human intervention, ensuring high repeatability and optimum hygiene and safety standards.

[0040] Further features and advantages of the present invention will become clearer from the indicative and therefore non-limiting description of an embodiment of an automated system for cleaning stalling containers.

[0041] Such a description will be set forth herein below with reference to the accompanying drawings, provided for merely indicative and therefore nonlimiting purposes, wherein:

[0042] Figure 1 is an embodiment of the automated system which is the subject-matter of the present invention;

[0043] Figure 2 is a further embodiment of the automated system which is the subject-matter of the present invention;

[0044] Figure 3 is a further embodiment of the automated system of figure 2;

[0045] Figures 4A and 4B are schematic representations of components of the system which is the subject-matter of the present invention; Figures 5A and 5B are schematic representations of further components of the system which is the subject-matter of the present invention.

[0046] With reference to the attached figures, an automated system for cleaning stalling containers 'C has been indicated overall with 1 , which, for simplicity of description, will be referred to as automated system 1 .

[0047] Container 'C, or complete container 'C, refers herein to a containment device for a laboratory animal. A container 'C generally consists of at least one tray or vat, at least one lid (generally it can be completely closed or grated). A container 'C can also be provided with a trough, preferably made in a single piece with the lid. In other words, a container 'C is defined by a plurality of removable components 'D', which can be disassembled and reassembled for cleaning operations, viz., washing, sanitising and sterilising.

[0048] The automated system 1 defines a cleaning path 'P' for one or more stalling containers 'C. In particular, the automated system 1 defines a cleaning path 'P' extending between a first storage station 2 for dirty containers 'C and a second storage station 3 for clean containers 'C of the automated system 1 .

[0049] The term 'dirty' means that for one or more of the components 'D' of the container 'C (e.g., the vat or part thereof) the cleanliness requisite, viz., hygiene, is impaired by the presence of soiling substances and residues of particles such as faeces, urine, feed residues and parts of litter due to the use of container C in the stalling facility.

[0050] The term 'clean' refers to the state of a component 'D' which has undergone a process (e.g., washing) whereby all foreign parts, visible or otherwise, which alter the state of hygiene thereof in any manner have been removed, thus restoring it to its conditions prior to use in the stalling facility, viz., to the clean condition.

[0051] Along the cleaning path 'P', the automated system 1 comprises a disassembly station 4 for dirty containers 'C, at least one washing machine 5 and an assembly station 6 for clean containers 'C. The automated system 1 further comprises at least one first robotic arm 7 arranged close to the disassembly station 4 and the washing machine 5 and at least one second robotic arm 8 arranged close to the assembly station 6 and the washing machine 5.

[0052] Preferably, the automated system 1 is divided between a dirty zone 1 a and a clean zone 1 b.

[0053] The dirty zone 1a comprises the first storage station 2, the disassembly station 4 and the first robotic arm 7.

[0054] The clean zone 1 b comprises the second storage station 3, the assembly station 6 and the second robotic arm 8.

[0055] In other words, the automated system 1 is divided, at least in part by means of the washing machine 5, into two separate zones, one in which dirty containers 'C are processed and the other in which clean containers 'C are processed.

[0056] Therefore, the cleaning path 'P' extends between the dirty zone 1 a and the clean zone 1 b.

[0057] Preferably, the dirty zone 1a and the clean zone 1 b are isolated from each other as depicted, for example, in figure 1 and figure 3. In particular, there is a separating element, e.g., a separating wall 1 c, between the dirty zone 1 a and the clean zone 1 b .

[0058] Preferably, the clean zone 1 b comprises an aeration system configured to keep the clean zone 1 b under pressure and / or the dirty zone 1 a under vacuum. Specifically, the clean zone 1 b is kept under pressure and / or the dirty zone 1 a is kept under vacuum so as to generate an air flow which draws contaminants away from the area (viz., clean zone 1 b), and thus prevents the possible deposition thereof on the surfaces of the container C, where the clean parts are processed.

[0059] Aeration system is intended as a system capable of creating an ambient pressure difference between the dirty and clean zone of for example 200 Pa of vacuum in the dirty zone 1 a, preferably between 1 and 20 Pa. In use, in the disassembly station 4, a complete dirty container 'C is disassembled into a plurality of dirty components 'D'. The disassembly station 4 is arranged downstream of the first storage station 2 for dirty containers 'C.

[0060] The washing machine 5 is configured to clean the dirty components 'D' and comprises an inlet portion 5a (dirty zone 1 a side) for dirty components 'D' and an outlet portion 5b (clean zone 1 b side) for clean components 'D'. The washing machine 5 is arranged downstream of the disassembly station 4 along the cleaning path 'P' and upstream of the assembly station 6.

[0061] In an embodiment not depicted, the automated system 1 comprises a plurality of washing machines 5. Preferably, each washing machine 5 is configured to perform the cleaning of a specific component 'D'. Therefore, in such an embodiment, the components 'D' are divided between the different washing machines 5 present so as to make the washing of the different types of components 'D' more efficient.

[0062] Alternatively, the automated system 1 comprises several washing machines 5 configured to clean a plurality of components 'D' so as to increase the number of cleaned components 'D' with respect to the embodiment with a single washing machine 5.

[0063] In use, in the assembly station 6, the clean components 'D' are assembled together to form a clean container 'C. The assembly station 6 is arranged downstream of the washing machine 5 and upstream of the second storage station 3 for clean containers 'C.

[0064] The automated system 1 also comprises a plurality of platforms 9 configured to support one or more containers 'C.

[0065] The term platform 9 is intended to mean a tray 9a (such as the one depicted for example in figure 4A) or a supporting frame 9b (such as the one depicted for example in figure 4B), designed to transport at least one or more containers 'C (whether clean or dirty). In the case of a platform 9 made in the form of a tray 9a, several containers 'C are preferably positioned on top of each other.

[0066] In the case of a platform 9 made in the form of a supporting frame 9b, the same is preferably structured to house a series of complete containers 'C in height, which will then be substantially stacked.

[0067] Preferably, the platform 9 is provided with wheels 9c so as to facilitate the movement thereof, e.g., outside the automated system 1.

[0068] The automated system 1 also comprises at least one self-driving vehicle 10 configured to move one or more platforms 9 along at least one portion of the cleaning path 'P'. In particular, the self-driving vehicle 10 is configured to move the platforms 9 between the first storage station 2 for dirty containers 'C and the disassembly station 4 and between the assembly station 6 and the second storage station 3 for clean containers 'C.

[0069] In other words, the self-driving vehicle 10 is configured to pick up and transport the platform 9 on which the dirty containers 'C are positioned from the first storage station 2 and to bring it close to the assembly station 6. Furthermore, the self-driving vehicle 10 is configured to pick up and transport the platform 9 on which the clean containers 'C are positioned from the assembly station 6 to the second storage station 3.

[0070] Preferably, the self-driving vehicle 10 is configured to move along a movement path 'M' defining at least one section of the cleaning path 'P' (or, in other words, at least partially overlapping the cleaning path ’P') defined between the first storage station 2 for dirty containers 'C and the second storage station 3 for clean containers 'C.

[0071] The first robotic arm 7 is arranged close to the disassembly station 4 and the inlet portion 5a of the washing machine 5. The first robotic arm 7 is configured to handle and move the complete dirty container 'C and the plurality of dirty components 'D' between the disassembly station 4 and the inlet portion 5a. Preferably, the first robotic arm 7 is also configured to pick up the complete dirty containers 'C from the platforms 9 and to disassemble the complete dirty containers 'C into the plurality of dirty components 'D' in the disassembly station 4. The first robotic arm 7 is therefore provided with a handler with which it can handle at least the dirty containers 'C and the dirty components 'D'.

[0072] Alternatively, the system comprises an additional first robotic arm 7 integrated or integrable in the disassembly station 4 and configured to disassemble complete dirty containers 'C into the plurality of components 'D'.

[0073] In other words, in use, the self-driving vehicle 10 picks up the platform 9 from the first storage station 2 and transports it close to the disassembly station 4. In the disassembly station 4, the first robotic arm 7 picks up the dirty container 'C from the platform and positions it on a work table 4a where the disassembly operations of the container 'C into the plurality of dirty components 'D' is carried out. Such disassembly operations can be carried out either by the work table 4a itself (provided with special automatisms configured to interact with the complete container 'C and disassemble it into the plurality of components 'D') or by the first robotic arm 7 or the additional first robotic arm 7.

[0074] Preferably, each disassembly station 4 comprises a plurality of work tables 4a. The aforesaid disassembly operations are carried out on each work table 4a. In other words, each work table 4a is loaded with a container 'C and the disassembly operations are carried out for each container 'C.

[0075] At this point, the dirty components 'D' are fed into the inlet portion 5a of the washing machine 5 where the washing operation viz., cleaning is carried out.

[0076] Preferably, the automated system 1 also comprises an emptying station 4b configured to receive residues of substances removed from the dirty containers 'C. The emptying station 4b is arranged between the disassembly station 4 and the inlet portion 5a of the washing machine 5. In other words, the automated system 1 is provided with preliminary cleaning means adapted to remove the residues from the dirty container 'C. Preferably, the emptying station 4b also comprises a scraper element 4c and / or a shaking element 4d configured to remove the residual substances from the dirty containers 'C. In an embodiment, the scraper element 4c is made in the form of a scraper grid, as depicted for example in figure 2.

[0077] In use, the first robotic arm 7 is configured to handle the scraper element 4c and the shaking element 4d and / or to handle the dirty containers 'C so as to make them interact with the aforesaid elements.

[0078] In other words, the first robotic arm 7 performs a scraping operation of the dirty container 'C and / or a shaking operation of the dirty container 'C.

[0079] According to a possible embodiment, the first robotic arm 7 is made in the form of a robotic arm with six degrees of freedom, provided with a handling gripper.

[0080] The second robotic arm 8 is arranged close to the assembly station 6 and the outlet portion 5b of the washing machine 5. The second robotic arm 8 is configured to handle the complete clean container 'C and the plurality of clean components 'D' between the outlet portion 5b and the assembly station 6. Preferably, the second robotic arm 8 is also configured to store the complete clean containers 'C on the platforms 9 and to assemble the clean components 'D' in complete clean containers 'C in the assembly station 6. The second robotic arm 8 is therefore provided with a handler with which it can handle at least the clean containers 'C and the clean components 'D'.

[0081] Alternatively, the system comprises an additional second robotic arm 8 integrated or integrable in the assembly station 6 and configured to assemble the plurality of clean components 'D' in the complete containers 'C.

[0082] In other words, in use, the second robotic arm 8 picks up the clean components 'D' from the washing machine 5, viz., from the outlet portion 5b, and places them in the assembly station 6, viz., on a work table 6a where the assembly operations of the clean components 'D' into the complete clean container 'C are carried out. Such assembly operations can be carried out by the work table 6a itself (provided with special automatisms configured to interact with the components 'D' and reassemble them in the complete container 'C') or by the second robotic arm 8 or by the additional second robotic arm 8.

[0083] Preferably, each assembly station 6 comprises a plurality of work tables 6a. The aforesaid disassembly operations are carried out on each work table 4a. In other words, each work table 6a is loaded with specific components 'D' and a container 'C is assembled on each work table 6a.

[0084] At this point, the robotic arm 8 stacks the clean container 'C on the platform 9 which the self-driving vehicle 10 will transport to the second storage station 3.

[0085] Preferably, the assembly station 6 also comprises a dispenser 6b configured to dispense litter and / or feed into the clean container 'C. Preferably, the dispenser 6b is configured to dispense litter and / or feed during the assembly steps while the container is still open.

[0086] Preferably, the second robotic arm 8 is configured to handle the dispenser 6b and / or to manipulate the clean containers 'C so as to make them interact with the dispenser 6b.

[0087] In other words, the second robotic arm 8 can carry out a filling operation of the clean container 'C.

[0088] According to a possible embodiment, the second robotic arm 8 is made in the form of a robotic arm with six degrees of freedom, provided with a handling gripper.

[0089] According to an embodiment of the present invention, each platform 9 comprises an identification tag 13 associated with at least one characteristic parameter of a container 'C positioned above the platform 9 itself.

[0090] A characteristic parameter is intended as a shape, size or other similar characteristic which characterises and identifies the type of container 'C to be processed. In such an embodiment, the automated system 1 comprises a tag reading device 13a arranged close to the first storage station 2 for dirty containers 'C so as to identify an identificative tag and / or the just cited characteristic parameter of the container 'C transported by the platform 9 and compare it with a plurality of reference characteristic parameters contained in a management and control unit of the system 1. The reading device 13a is therefore configured to recognise the container 'C by means of the identification tag 13 or by suitable direct detection of the characteristic parameter (for example, if this characteristic parameter is constituted by a "form factor", the reading device 13a can conveniently be a scanner that is capable of recognizing this form factor) and to send a predetermined command signal to at least the first robotic arm 7 and the second robotic arm 8 and to at least the washing machine 5 to set a work function related to the identified container type 'C. In other words, as a function of the type of container 'C, command signals are sent which set specific commands to be carried out by the robotic arms 7 and 8 and the washing machine 5, which will perform a specific washing function based on the type of component 'D'.

[0091] Identification tag 13 is intended as a barcode, RFID, NFC, logo, pictogram, QR code or other similar identifiable means which can be used to derive the types of containers 'C to be processed and then set and suitably synchronise the subsystems (viz., the robotic arms 7 and 8 and the washing machine 5 and the self-driving system 10) of the automated system 1 .

[0092] Preferably, the automated system 1 further comprises an additional reading device 13b adapted to read the tag and / or the characteristic parameter as previously introduced; such additional reading device (13b) can be conteniently be arranged close to the outlet portion 5b of the washing machine 5 and configured to identify the type of container 'C and send a predetermined command signal to the second robotic arm 8. Therefore, in such an embodiment, the reading device 13a arranged close to the first storage station 2 is configured to send a command signal only to the first robotic arm 7 and the washing machine 5.

[0093] With reference to the embodiments of the attached figures, the automated system 1 preferably comprises two self-driving vehicles 10.

[0094] A first self-driving vehicle 10a is configured to move along a first movement path 'M1 defining at least part of a first portion of the cleaning path 'P' defined between the first storage station 2 for dirty containers 'C and the disassembly station 4.

[0095] A second self-driving vehicle 10b is configured to move along a second movement path 'M2', defining at least part of a second portion of the cleaning path 'P' defined between the assembly station 6 and the second storage station 3 for clean containers 'C.

[0096] With reference to the embodiment of figure 1 , the automated system 1 comprises an additional washing machine 11 configured for cleaning one or more platforms 9. The at least one self-driving vehicle 10 is configured to move one or more platforms 9 between the disassembly station 4 and the additional washing machine 11 and / or the additional washing machine 11 and the assembly station 6.

[0097] In particular, the additional washing machine 11 is provided with a respective inlet portion 11 a for dirty platforms 9 and a respective outlet portion 11 b for clean platforms 9.

[0098] In an embodiment, the self-driving vehicle 10 is configured to pass through the additional washing machine 11 .

[0099] Preferably, the first self-driving vehicle 10a is configured to transport the platform 9 from the first storage station 2 to the disassembly station 4 and, following the picking up of the dirty container 'C, transport the platform 9 (empty and dirty) from the disassembly station 4 to the additional washing machine 11 . Here the additional washing machine 11 cleans the platform 9 of any residue left by the dirty container 'C. In other words, the first movement path 'M1 ' of the first self-driving vehicle 10a is also defined between the disassembly station 4 and the additional washing machine 11 .

[0100] Preferably, the second self-driving vehicle 10b is configured to pick up the clean platform 9 from the additional washing machine 11 and transport it to the assembly station 6. Once the second robotic arm 8 deposits the clean container 'C on the platform 9, the second self-driving vehicle 10b moves the platform 9 to the second storage station 3.

[0101] In other words, the second movement path 'M2' of the second self-driving vehicle 10b is also defined between the additional washing machine 11 and the assembly station 6.

[0102] The embodiment of figure 1 of the automated system effectively defines a system for continuous washing. Continuous washing is intended as a washing cycle carried out by means of a washing machine 5 which continuously processes the components 'D' of the containers 'C to be processed, which are in motion within the automated system 1 to pass through all the envisaged steps.

[0103] With reference to the embodiments of figures 2 and 3, the automated system 1 also comprises a plurality of frame structures 12, such as those depicted for example in figures 5A and 5B. Each frame structure 12 defines a containment volume for receiving the plurality of components 'D' of the container 'C during the washing of the components 'C in the washing machine 5.

[0104] Preferably, each frame structure 12 comprises a plurality of seats 12b, defined along a vertical extension axis of the frame structure 12. Each seat 12b is configured to receive a respective component 'D'.

[0105] Preferably, each frame structure 12 is provided with wheels 12c to facilitate the movement thereof by means of the self-driving vehicle 10 and / or by means of the first robotic arm 7 or the second robotic arm 8. In other words, the frame structures 12 (or 'racks') are suitable structures to accommodate and correctly position the components 'D' of the containers 'C to be suitably processed during the washing cycle.

[0106] The first robotic arm 7 is configured to pick up the dirty components 'D' from the disassembly station 4 (viz., from the work table 4a, following the disassembly of the dirty containers 'C by the first robotic arm 7 itself) and position them in a respective frame structure 12 which will subsequently be introduced within the inlet portion 5a of the washing machine 5 by the first robotic arm 7 itself.

[0107] The second robotic arm 8 is configured to pick up the clean components 'D' from the respective frame structure 12 and deposit them in the assembly station 6. In other words, the second robotic arm 8 is configured to extract the frame structure 12 from the washing machine 5 (viz., from the outlet portion 5b) to then remove the clean components 'D' to be assembled in the assembly station 6 (viz., on the work table 6a of the assembly station 6).

[0108] Preferably, the frame structure 12 is inserted in the inlet portion 5a and extracted from the output portion 5b by means of the self-driving vehicle 10. Even more preferably, the self-driving vehicle 10 moves the frame structure 12 along the cleaning path 'P'. In other words, the self-driving vehicle 10 is also configured to introduce the frame structure 12 in the washing machine 10 and / or to extract it from the washing machine 10.

[0109] The frame structure 12 is also subject to the washing cycle in the washing machine 5. In other words, during the washing of the components 'D', the frame structures 12 are also washed of any residual dirt following the loading of the components 'D' onto the frame structure 12 itself.

[0110] In the embodiment in which there are several washing machines 5, each frame structure 12 is loaded with a specific component 'D' and introduced in a specific washing machine 5.

[0111] Preferably, the automated system 1 also comprises a storage 12a configured to accommodate a plurality of empty (viz., without components 'D') frame structures 12. The self-driving vehicle 10 is further configured to pick up at least one empty frame structure 12 from the storage 12a and bring it close to the inlet portion 5a of the washing machine 5 and / or to pick up at least one empty frame structure 12 from the assembly station 6 and bring it to said storage 12a.

[0112] In other words, the first self-driving vehicle 10a is configured to pick up a frame structure 12 from the storage 12a and bring it close to the disassembly station 4, viz., the inlet portion 5a. Next, the first self-driving vehicle 10a is configured to pick up the platforms 9 and bring them close to the disassembly station 4 until the frame structure 12 is filled with a predetermined type of dirty components 'D'. In other words, in such an embodiment, the first movement path 'MT also extends between the disassembly station 4 and the storage 12a.

[0113] Furthermore, the second self-driving vehicle 10b is configured to pick up the frame structure 12 from the assembly station 6 (and bring it to the storage 12a) once the platform 9 (or platforms 9) transporting the clean containers 'C has been brought to the second storage station 3 for clean containers 'C. In other words, in such an embodiment, the second movement path 'M2' also extends between the assembly station 6 and the storage 12a.

[0114] Preferably, in the embodiment of figure 3, the storage 12a is delimited by perimeter walls so as to further isolate the dirty zone 1 a from the clean zone 1 b and to avoid possible contamination when the frame structure 12 is brought within the storage 12a.

[0115] Preferably, the automated system 1 comprises a plurality of differently shaped frame structures 12 useful for accommodating and processing components 'D' of containers 'C of different shapes and sizes.

[0116] Depending from the reading of the characteristic parameter operated by the reading device / s (13a) and / or (13b) (or in case of direct tag reading, for example if the platforms 9 are provided with an identification tag 13), the automated system 1 , and more in particular the self-driving vehicles 10 belonging to the system itself, selects and conveys the type of frame structure 12 required to process the type of component 'D'.

[0117] The automated system described in figures 2 and 3 effectively defines a batch washing system. Batch washing is intended as a washing cycle performed by means of a washing machine 5 which processes frame structures 12 loaded with components 'D' of containers 'C to be processed. More specifically, the batch process carries out the washing on the components 'D' housed on frame structures 12 and fixed with respect to the washing machine 5.

[0118] Preferably, the automated system 1 comprises a plurality of self-driving vehicles 10 movable along the movement path 'M' or along a first movement path 'MT and a second movement path 'M2'. Advantageously, the presence of more than two self-driving vehicles 10 allows to not interrupt the washing processes when the now unloaded self-driving vehicles 10 stop at a charging station 10c of the automated system 1. In other words, the automated system 1 comprises one or more charging stations 10c for self-driving vehicles 10.

[0119] The present invention is capable of overcoming the drawbacks which have emerged from the prior art.

[0120] Advantageously, the automated system 1 is capable of carrying out a consistent and repeatable container 'C processing.

[0121] In other words, each component 'D' of the stalling container 'C, received complete and dirty and released complete and clean, complies with hygiene and safety standards without running into possible human errors.

[0122] Advantageously, the total absence of human contact during the processing also ensures safety for the operators themselves.

[0123] Advantageously, the automated system 1 allows an increase not only from the viewpoint of process effectiveness but also in the efficiency thereof.

Claims

CLAIMS1. Automated system (1 ) for cleaning stalling containers (C), defining a cleaning path (P) for one or more stalling containers (C) extending between a first storage station (2) for dirty stalling containers (C) and a second storage station (3) for clean stalling containers (C) of the automated system (1 ), each stalling container (C) comprising a plurality of removable components (D), said automated system (1 ) comprising along said cleaning path (P):- a disassembly station (4) for dirty containers (C), wherein, in use, at least one dirty container (C) is disassembled into the plurality of dirty components (D) of the container (C), said disassembly station (4) being arranged downstream of said first storage station (2) for dirty containers (C);- at least one washing machine (5) configured to clean said plurality of dirty components (D) of the dirty container (C) and comprising an inlet portion (5a) adapted to receive the dirty components (D) and an outlet portion (5b) adapted to expel the cleaned components (D), said washing machine (5) being arranged downstream of said disassembly station (4) along the cleaning path (P);- an assembly station (6) for clean containers (C), wherein said plurality of clean components (D) is assembled to form at least one clean container (C), said assembly station (6) being arranged downstream of said washing machine (5) and upstream of said second storage station (3) for clean containers (C); said automated system (1 ) further comprising:- a plurality of platforms (9) configured to support the dirty containers (C) and clean containers (C);- at least one self-driving vehicle (10) configured to move one or more platforms (9) between said first storage station (2) for dirty containers (C) and said disassembly station (4) and between said assembly station (6) and said second storage station (3) for clean containers (C);- at least one first robotic arm (7), arranged close to said disassembly station (4) and said inlet portion (5a) of the washing machine (5), configured to handle and move said dirty container (C) and said plurality of dirty components (D) between said disassembly station (4) and said inlet portion (5a);- at least one second robotic arm (8), arranged close to said assembly station (6) and said outlet portion (5b), configured to handle said clean container (C) and said plurality of clean components (D) between said outlet portion (5b) and said assembly station (6).

2. Automated system (1 ) according to claim 1 , wherein said self-driving vehicle (10) is configured to move along a movement path (M) defining at least one section of said cleaning path (P) defined between said first storage station (2) for dirty containers (C) and said second storage station (3) for clean containers (C).

3. Automated system (1 ) according to claim 1 or 2, comprising two selfdriving vehicles (10a, 10b) wherein a first self-driving vehicle (10a) is configured to move along a first movement path (M1 ) defined between said first storage station (2) for dirty containers (C) and said disassembly station (4), and wherein a second self-driving vehicle (10b) is configured to move along a second movement path (M2) defined between said assembly station (6) and said second storage station (3) for clean containers (C).

4. Automated system (1 ) according to one or more of the preceding claims, comprising an additional washing machine (11 ) configured to clean said one or more platforms (9) and wherein said at least one self-driving vehicle (10) is configured to move said one or more platforms (9) between said disassembly station (4) and said additional washing machine (11 ) and / or said additional washing machine (11 ) and said assembly station(6).

5. Automated system (1 ) according to claims 3 and 4, wherein said first movement path (M1 ) of said first self-driving vehicle (10a) is further defined between said disassembly station (4) and said additional washing machine (11 ) and wherein said second movement path (M2) of the second self-driving vehicle (10b) is further defined between said additional washing machine (11 ) and said assembly station (6).

6. Automated system (1 ) according to one or more of the preceding claims, wherein said at least one first robotic arm (7) is further configured to pick up said dirty containers (C) from said platforms (9) and to disassemble said dirty containers (C) into said plurality of dirty components (D) in said disassembly station (4) and wherein said at least one second robotic arm (8) is further configured to store said clean containers (C) on said basements (9) and to assemble said clean components (D) in clean containers (C) in said assembly station (6).

7. Automated system (1 ) according to one or more of the preceding claims, further comprising a plurality of frame structures (12) defining a containment volume for receiving said plurality of dirty components (D) of the dirty container (C) while washing said components (D) in said washing machine (5), said first robotic arm (7) being configured to pick up the dirty components (D) from said disassembly station (4) and place them in a respective frame structure (12), and said second robotic arm (8) being configured to pick up the clean components (D) from said respective frame structure (12) and store them in the assembly station (6).

8. Automated system (1 ) according to claim 7, wherein said at least one self-driving vehicle (10) is configured to move the frame structure (12) along the cleaning path (P), preferably said self-driving vehicle (10)introducing said frame structure (12) into the washing machine (5) and / or extracting said frame structure (12) from the washing machine (5).

9. Automated system (1 ) according to claim 7 or 8, further comprising a storage (12a) configured to house a plurality of frame structures (12), said self-driving vehicle (10) being further configured to pick up at least one frame structure (12) from said storage (12a) and bring it close to said inlet portion (5a) of the washing machine (5) and / or to pick up at least one frame structure (12) from said assembly station (6) and bring it into said storage (12a).

10. Automated system according to one or more of the preceding claims, further comprising an emptying station (4b) configured to receive residues of substances removed from said dirty containers (C), said emptying station (4b) being arranged between said disassembly station (4) and said inlet portion (5a) of the washing machine (5).

11. Automated system (1 ) according to claim 10, wherein said emptying station (4b) further comprises a scraping element (4c) and / or a shaking element (4d) configured to remove said residues of substances from said dirty containers (C).

12. Automated system (1 ) according to one or more of the preceding claims, wherein said assembly station (6) further comprises a dispenser (6b) configured to dispense litter and / or feed into said clean container (C).

13. Automated system (1 ) according to one or more of the preceding claims, wherein said automated system (1 ) is divided into a dirty zone (1 a), comprising said first storage station (2) for dirty containers (C), said disassembly station (4), said first robotic arm (7) and said inlet portion (5a), and a clean zone (1 b), comprising said second storage station (3) forclean containers (C), said assembly station (6), said second robotic arm (8) and said outlet portion (5b).

14. Automated system (1 ) according to claim 13, wherein said dirty zone (1 a) and said clean zone (1 b) are isolated from each other.

15. Automated system (1 ) according to claim 13 or 14, wherein said clean zone (1 b) comprises an aeration system configured to maintain said clean zone (1 b) under pressure and / or said dirty zone (1 a) under vacuum.

16. Automated system (1 ) according to one or more of the previous claims, further comprising at least one reading device (13a) arranged near said first storage station (2) for dirty containers (C), said reading device (13a) being configured for:- read an identification tag and / or a characteristic parameter of said container (C);- comparing said identification tag and / or said characteristic parameter with a plurality of reference characteristic parameters; and- send a control signal at least to said first robotic arm (7) and to at least said washing machine (5) to set a work function relating to said type of container (C) to be washed.

17. Automated system (1 ) according to claim 16, further comprising an additional reading device (13b) for the identification tag (13) and / or for the reading of the characteristic parameter, said additional reading device (13b) being arranged close to the outlet portion (5b) of the washing machine (5) and configured to identify the type of container (C) and send a command signal to said second robotic arm (8).

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