Method and apparatus for weighing containers

Abstract

Method and apparatus (10) for weighing containers (100) filled with a pharmaceutical product, wherein the apparatus comprises a station (12) for supplying empty containers (100), a filling station (13), a capping station (40), a weighing station (14) comprising a weighing device (26), a calibration weight magazine (15) comprising at least one reference piece (30), and a manipulator (16) provided with at least one gripping member (17; 17) to alternatively grip said containers (100) or said reference pieces (30) in order to move them between said stations.

Description

[0001] “METHOD AND APPARATUS FOR WEIGHING CONTAINERS”

[0002] FIELD OF THE INVENTION

[0003] The present invention concerns a method and an apparatus for weighing containers, such as vials, bottles, flasks, pre-sterilized syringes or other types of containers, filled with pharmaceutical products, for example fluids, in particular liquids, or solids, in powder or gel form. By way of example, the method and the apparatus find application preferably in the pharmaceutical sector, but also in the cosmetic, health, chemical and / or food sectors. BACKGROUND OF THE INVENTION

[0004] In the industrial pharmaceutical sector of automated container packaging, filling and weighing apparatuses are known that normally comprise an isolated chamber, or isolator, inside which a manipulator is disposed that moves the containers, according to a specific work cycle, to and from a filling station and a weighing station, or even other stations.

[0005] In the weighing station there is a weighing device that weighs the containers after they have been filled with a certain amount of a pharmaceutical product.

[0006] Depending on the amount of pharmaceutical product to be dispensed into the containers, the weighing device needs to be calibrated at more or less regular intervals, in order to avoid an incorrect measurement of the weight of product dispensed. Especially in the pharmaceutical sector, it is not possible to forgo filling quantities that are as precise as possible, in order to prevent future incorrect dosages of the product, for example a medicine, caused by different filling quantities. Document WO2011138140A1 describes a scale comprising a weighing device equipped with a plurality of weighing cells with which there is associated a support provided with first seatings for positioning the containers and with second seatings for positioning calibration weights.

[0007] The scale also comprises a calibration device having a gripping unit specially dedicated to picking up, by means of suckers operating with negative pressure, the calibration weights that are disposed in a magazine below the weighing device, in order to position them in the second seatings and subsequently remove them therefrom to return them to the magazine at the end of an operation of calibrating the weighing device.

[0008] A disadvantage of this solution is that when the scale is comprised in an isolator where there are also additional work stations, it is necessary to provide both the gripping unit expressly dedicated to moving the calibration weights, and also the manipulator designated to moving the containers between the various stations. Given that the spaces available inside the isolator are normally quite limited, this disadvantage complicates the apparatus’ design.

[0009] In another technical field, an apparatus is known from document WO 2009 / 102964 for moving containers during the execution of quality control tests, in order to verify the conformity of a decoration executed with ink on the outside of the container with respect to the specifications provided. This apparatus is not disposed in an isolated chamber, nor does it need to interact with the operating stations for weighing and filling the containers.

[0010] There is therefore the need to perfect an apparatus and a method for weighing containers filled with a pharmaceutical product that can overcome at least one of the disadvantages of the state of the art.

[0011] To do this, it is necessary to solve the technical problem of simplifying and reducing the number of components needed to move the containers and perform operations thereon in an automated manner, in the context of an apparatus for automatically filling and weighing containers, as well as calibrating the weighing device that weights the same containers.

[0012] One purpose of the present invention is to provide an apparatus and perfect a method for weighing containers filled with a pharmaceutical product as well as capping such containers after they have been filled, but also for calibrating the weighing device in a rapid, efficient and repeatable manner.

[0013] Another purpose of the present invention is to provide an apparatus for weighing containers that does not require the introduction of additional manipulators to move the calibration weights, in addition to the one(s) already present to move the containers. The Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.

[0014] SUMMARY OF THE INVENTION The present invention is set forth and characterized in the independent claims.

[0015] The dependent claims describe other characteristics of the present invention or variants to the main inventive idea.

[0016] In accordance with the above purposes and to resolve the technical problem described above in a new and original way, also achieving considerable advantages compared to the state of the prior art, a method according to the present invention for weighing containers filled with a pharmaceutical product comprises the following steps:

[0017] - providing a nest having a plurality of apertures, each aperture receiving a respective empty container held by the nest in a hanging configuration, each container having a bottom wall and a lateral wall enclosing a hollow space accessible from a top aperture;

[0018] - picking up at least one container at a time from the nest by means of a manipulator; - bringing the at least one picked-up container to a filling station using the manipulator;

[0019] - filling the at least one container brought to the filling station using a filling needle;

[0020] - weighing the at least one filled container at a weighing station using a weighing member, the container being placed by the manipulator with the bottom wall on the weighing member in an upright configuration with the top aperture facing upwards;

[0021] - after the weighing step, picking up the at least one weighed container from the weighing member;

[0022] - capping the at least one filled container at a capping station with a respective cap to close the top aperture of the filled container using a capping member.

[0023] In accordance with one aspect of the present invention, the manipulator comprises a gripping member configured to grip the at least one container when it is picked up.

[0024] In accordance with one aspect of the present invention, the method further comprises a calibration step comprising:

[0025] - providing a magazine containing at least one reference piece having a known weight;

[0026] - picking up the at least one reference piece from the magazine by gripping the at least one reference piece using the gripping member, and

[0027] - bringing the at least one reference piece to the weighing station using the manipulator, and placing the at least one reference piece on the weighing member to verify whether the weight outputted by the weighing member corresponds to the known weight of the corresponding reference piece, thus verifying whether the weighing station is calibrated.

[0028] In this way, the movement of the at least one reference piece can occur in a particularly simple manner, without needing to provide a dedicated manipulator that is different from the one normally used to manage the containers. The present invention also concerns an apparatus for weighing containers filled with a pharmaceutical product, wherein the apparatus comprises:

[0029] - a nest having a plurality of apertures, each aperture receiving a respective empty container held by the nest in a hanging configuration, each container having a bottom wall and a lateral wall enclosing a hollow space accessible from a top aperture;

[0030] - a filling station comprising at least a filling needle configured to fill containers;

[0031] - a manipulator comprising a gripping member configured to pick up at least one container at a time from the nest and bring it to the filling station;

[0032] - a weighing station comprising a weighing member configured to weigh containers, the manipulator being further configured to place the at least one container with the bottom wall on the weighing member in an upright configuration with the top aperture facing upwards;

[0033] - a capping station comprising a capping member configured to cap the at least one filled container with a respective cap to close the top aperture of the filled container;

[0034] - a magazine containing at least one reference piece having a known weight; and

[0035] - a controller that stores a known weight of the at least one reference piece and is connected to the weighing member.

[0036] In accordance with another aspect of the present invention, the gripping member is configured to pick up the at least one reference piece from the magazine and place it on the weighing member, the controller being configured to verify whether the output weight of the weighing member corresponds to the known weight of the corresponding reference piece, thus verifying that the weighing station is calibrated.

[0037] DESCRIPTION OF THE DRAWINGS

[0038] These and other aspects, characteristics and advantages of the present invention will become apparent from the following description of an embodiment, given as a non-restrictive example with reference to the attached drawings wherein:

[0039] - fig. 1 is a schematic and simplified top view of an apparatus according to the present invention for weighing and capping containers that have been filled with a pharmaceutical product;

[0040] - figs. 2 and 3 are three-dimensional views showing the step of calibrating a weighing member comprised in the apparatus of fig. 1 ;

[0041] - figs. 4 and 5 are three-dimensional views showing the step of weighing the containers using the weighing member of figs. 2 and 3;

[0042] - fig. 6 is a three-dimensional view showing the step of capping the containers at a capping station of the apparatus of fig. 1 ; - fig. 7 is an exploded three-dimensional view showing a step of removing a nest configured to contain the containers from a tub, at a supply station of the apparatus of fig. 1 ;

[0043] - fig. 8 is a three-dimensional view showing another embodiment of a gripping member comprised in the apparatus of fig. 1. We must clarify that the phraseology and terminology used in the present description, as well as the figures in the attached drawings also in relation as to how described, have the sole function of better illustrating and explaining the present invention, their purpose being to provide a non-limiting example of the invention itself, since the scope of protection is defined by the claims. To facilitate comprehension, the same reference numbers have been used, where possible, to identify identical common elements in the drawings. It is understood that elements and characteristics of one embodiment can be conveniently combined or incorporated into other embodiments without further clarifications.

[0044] DESCRIPTION OF SOME EMBODIMENTS OF THE PRESENT INVENTION With reference to fig. 1, an apparatus 10 according to the present invention is usable to weigh containers 100 filled with a pharmaceutical product, in a fully automated manner.

[0045] Purely by way of example, the containers 100 can be of any shape and size and they can be, without limitation to generality, vials, bottles, flasks, pre-sterilized syringes or other types of containers, capable of containing either fluid products, in particular liquids, or solid products, in powder or gel form.

[0046] In general, in the example given here, each container 100 comprises a bottom wall 101 and a lateral wall 102 enclosing a hollow space accessible from a top aperture 103 (fig. 4).

[0047] The empty containers 100 are disposed in an orderly manner within a tray or nest 21 with a substantially rectangular shape, as shown in figs. 1 and 4. The nest 21 is contained inside a tub 20, also with a substantially rectangular shape. The nest 21 can be provided with a plurality of housing seatings 22 suitable to each support, stably yet temporarily, a respective container 100.

[0048] The housing seatings 22 are disposed according to a positioning matrix consisting of a plurality of rows and columns, such as to form a series of reciprocally parallel rows, which for example are reciprocally offset and spaced apart.

[0049] The number of housing seatings 22 present on each row of the nest 21 is preferably the same as the number of engagement portions 18.

[0050] The orderly positioning pattern of the containers 100 in the nest 21 is functional to their automated pick-up, as will be explained in detail below. The apparatus 10 comprises a containing chamber 11 isolated from the outside, inside which there is at least one base 24 on which operating stations 12, 13, 14, 40, a calibration weights magazine 15 and a single manipulator 16 are installed. The operating stations 12, 13, 14, 40 and the calibration weights magazine 15 are disposed in such a way that the manipulator 16 is able to reach them. The operating stations comprise a supply station 12 of the containers 100, a filling station 13, a weighing station 14 and a capping station 40. The apparatus 10 can also comprise further operating stations, not essential to the definition of the invention and therefore not mentioned or described in detail.

[0051] The manipulator 16 can be or comprise a robotic arm, preferably with at least three degrees of freedom.

[0052] The manipulator 16 is provided, at one end thereof, with a gripping member 17 configured to pick up the containers 100 from the supply station 12 (fig. 4) and to move them at least between the operating stations. In the example described here, the gripping member 17 is configured so as to pick up one row of containers 100 at a time, formed for example by ten containers 100.

[0053] The gripping member 17 is mounted on the side of a frame 19, for example with a square shape (plan view), internally hollow and connected to the end of the manipulator 16.

[0054] At least one further gripping member 38 is provided, also mounted on the frame 19 and configured to grip the nest 21 in order to remove it from the tub 20 containing it.

[0055] Preferably, a plurality of further gripping members 38 is provided, homogeneously distributed along the perimeter of the frame 19. For example, at least two, or more preferably three, further gripping members 38 can be provided, mounted on each side of the frame 19.

[0056] In the version described here by way of example with reference to the attached drawings, each further gripping member 38 comprises a vacuum gripper V, for example conformed as a sucker, which grips the nest 21 with vacuum.

[0057] In the embodiment shown in figs. 1-7, the gripping member 17 comprises at least one engagement portion 18 configured to allow the picking up and temporary support of a container 100, determining a same- shape or geometric coupling, as shown by way of example in fig. 4. The at least one engagement portion 18 is conformed in a manner mating with an engagement portion 110 of the container 100.

[0058] The at least one engagement portion 18 can be open frontally as well as upwards and downwards to allow the container 100 to be picked up at its engagement portion 110, see figs. 4 and 5. For example, the engagement portion 18 can have a concave shape.

[0059] The gripping member 17 is provided with a plurality of aligned engagement portions 18, for example ten engagement portions 18 to simultaneously move an equal number of containers 100, figs. 1-5.

[0060] The engagement portions 18 advantageously all have the same shape. Fig. 8 shows an alternative embodiment, in which a gripping member 17’ is depicted, mounted on one side of the frame 19.

[0061] The gripping member 17’ comprises a plurality of engagement portions, indicated in this case with reference number 18’ and configured to allow a container 100 (or alternatively some reference pieces 30) to be picked up and temporarily supported, determining a same-shape or geometric coupling with the engagement portions 110 or 34 of the container 100 and of the reference pieces 30, respectively. The gripping member 17 ’ comprises at least one vacuum gripper V, for example configured as a sucker that grips at least one container 100 with vacuum. Preferably, the gripping member 17’ comprises a plurality of vacuum grippers V, for example a number of vacuum grippers equal to the number of engagement portions 18’, so that a corresponding vacuum gripper V is disposed in each concave shaped engagement portion.

[0062] The filling station 13 comprises a filling device 23 assigned to filling the containers 100, preferably with a pharmaceutical product, for example in liquid form.

[0063] The filling device 23 comprises at least one filling needle 25, for example with a vertical dispensing axis.

[0064] The filling device 23 can comprise a plurality of filling needles 25 configured to sequentially fill one row of containers 100 at a time. The number of filling needles 25 is preferably equal to the number of containers 100 that are simultaneously processed by the manipulator 16, that is, ten in the case of the example described here with reference to the drawings.

[0065] The filling station 13 can be disposed in the proximity of the weighing station 14 so as to reduce the movements of the containers 100 after, and possibly even before, their filling to a minimum.

[0066] According to an alternative arrangement, the filling station 13 is integrated with the weighing station 14. In this case, the containers 100 are positioned there only once, in order to be subjected to both filling as well as weighing, the latter possibly carried out both before and after filling.

[0067] The capping station 40 can also be disposed in the proximity of the filling station 13 so as to reduce the movements of the containers 100 after their filling to a minimum.

[0068] With reference to fig. 6, the capping station 40 comprises at least one capping member 41, for example conformed as a push plunger, and a support member 29 to stably support the containers 100 during the capping step. Preferably, a plurality of capping members 41 are provided, for example ten in the example given here.

[0069] Each capping member 41 is disposed coaxial to a respective vertical axis of development, and is movable according to an alternating motion along such axis. When the capping member 41 descends towards the containers 100 below, it encounters a cap 105 and pushes it downward until it is inserted in the aperture 103 of a respective container 100.

[0070] With reference to figs. 1 , 3 and 5, the weighing station 14 comprises a weighing member 26 having at least one weighing seating 27 conformed to temporarily support the container 100 and at least one weighing cell 28 associated with the weighing seating 27 and configured to determine the weight of the container 100.

[0071] The shape of the weighing seating 27 can be chosen or arranged as a function of the shape of the container 100 to be weighed. For example, the weighing seating 27 can have a cylindrical shape open upwards and optionally closed at the bottom, figs. 3 and 5.

[0072] The weighing cell 28 can be of any known type whatsoever and its operation essentially depends on the position in which the weight to be detected is applied.

[0073] The weighing member 26 can comprise a plurality of weighing seatings 27, preferably in number equal to the number of containers 100 to be weighed at a single time, with which respective weighing cells 28 are associated. The weighing seatings 27 are preferably disposed according to an arrangement with one or more rows, for example along a single row formed by ten weighing seatings 27.

[0074] The calibration weights magazine 15 is preferably located in the proximity of the weighing station 14 and comprises at least one support member, advantageously the same as the support member provided in the capping station 40 and therefore indicated with the same reference number 29, and at least one reference piece or sample weight 30 disposed on the support member 29, figs. 1 and 2.

[0075] The support member 29 can comprise a plate 31 provided with at least one receptacle 32 configured to temporarily support the reference piece 30. The receptacle 32 can be a hole made through in the thickness of the plate 31, fig. 2.

[0076] The receptacle 32 can have an annular shape mating with the shape of the reference piece 30, determining a support by same-shape or geometric coupling and / or by mechanical interference.

[0077] The calibration weights magazine 15 can comprise a plurality of reference pieces 30 clustered into distinct groups according to their respective weights, wherein each group of reference pieces 30 is formed by pieces with the same weight, supported in corresponding receptacles 32. The receptacles 32 that support the different groups of reference pieces 30 are preferably disposed along one or more parallel, possibly offset, rows.

[0078] The number of reference pieces 30 can be at least equal to the number of weighing seatings 27 of the weighing member 26. The weighing seatings 27 are in fact configured to temporarily receive the containers 100 or the reference pieces 30 when the weighing member 26 has to be calibrated.

[0079] According to possible embodiments, the reference pieces 30 can be ordered homogeneously according to their unit weight, for example they can be divided into two or more distinct groups. Each group is formed by a plurality of reference pieces 30 having the same unit weight. The unit weight can be chosen, for example, as 10 g, 20 g, 50 g, 100 g, 200 g.

[0080] Each group can be formed by the same number of reference pieces 30, or a different number. Advantageously, the number of reference pieces 30 is equal to the number of weighing seatings 27. According to the present invention, the same gripping member 17 used to move the containers 100 is also configured to pick up the reference pieces 30 from the calibration weights magazine 15 and move them towards the weighing station 14 in order to carry out a calibration of the weighing cells 28, figs. 2 and 3. To this end, it is advantageous for the reference pieces 30 to have the same shapes and dimensions as the containers 100 to be weighed and filled.

[0081] Each engagement portion 18 is configured to pick up and support, alternatively to the container 100, a reference piece 30, determining a same-shape or geometric coupling and / or a mechanical interference therewith.

[0082] The number of reference pieces 30 is preferably equal to the number of engagement portions 18 of the gripping member 17. By means of the gripping member 17 it is therefore possible to pick up, in a single pass, one row of reference pieces 30 (fig. 2) at a time and dispose it in the corresponding weighing seatings 27 (fig. 3). Each engagement portion 18 is conformed in a manner also mating with an engagement portion 34 of the reference piece 30.

[0083] The reference pieces 30 have the same shape as the containers 100, at least with regard to the engagement portion 34 and the portion that is accommodated in the weighing seatings 27.

[0084] The engagement portion 34 of the reference piece 30 is provided with a coupling zone 34a mating with the shape of the engagement portion 18 and preferably also with at least one abutment zone 34b protruding with respect to the coupling zone 34a. When the reference piece 30 is engaged in the engagement portion 18, the abutment zone 34b, defined for example by a plate or similar element, can rest on an upper and / or lower surface of the gripping member 17 creating a mechanical interference that keeps the position of the reference piece 30 stable.

[0085] The movement of the reference pieces 30 can occur in a particularly simple manner, without needing to provide a dedicated manipulator. The apparatus 10 is therefore very simple and versatile, and can be equipped with a single manipulator 16 capable of moving both the containers 100 and also the reference pieces 30.

[0086] Since the reference pieces 30 have the same shape as the containers 100, the weighing seatings 27 are also configured to alternatively accommodate the containers 100 or the reference pieces 30.

[0087] The apparatus 10 comprises a controller 36 configured to control the activation and spatial movements of the manipulator 16 and to perform the programmed functions of filling, weighing, capping and calibrating the weighing member 26.

[0088] The controller 36 comprises a storage module in which the unit weight values of the reference pieces 30 and their position in the magazine 15 are stored. Production programs comprising information relating to the type of containers 100 and the quantity of product to be dispensed therein can also be stored in the storage module.

[0089] The controller 36 is configured to pre-select the reference pieces 30 as a function of the quantity of product to be dispensed into the containers 100 to be packaged, for example in the next production batch, and to communicate the unit weight values to the weighing device 26 so that each weighing cell 28 can be calibrated.

[0090] The reference pieces 30 can be chosen based on the difference between their unit weight and the weight of the quantity of product to be dispensed into the container 100. This difference is advantageously the smallest possible. Normally, the controller 36 is programmed to choose the reference piece 30 having a unit weight closest to the weight of the quantity of product to be dispensed into the container 100, also considering the weight of the container 100 itself.

[0091] The operation of the apparatus 10 described heretofore, which corresponds to the method according to the present invention, comprises a step of orderly supply of the containers 100, a step of filling, weighing and capping the containers.

[0092] The picking up and movement of the at least one container 100 are carried out with the manipulator 16 by means of the gripping member 17, 17’ mounted on one side of the frame 19, connected to the free end of the manipulator 16.

[0093] The gripping member 17, 17’ picks up a row of containers 100, ten in the example described here, and disposes it on the weighing members 26. Here the containers 100 are first weighed empty, in order to determine the tare, and are subsequently weighed after they have been filled in order to determine the net weight as the difference between the gross weight actually measured and the tare.

[0094] In the event that the weighing and filling stations are integrated into a single operating station, the containers 100 do not need to be moved, but they remain on the weighing members 26 because the filling and weighing occur simultaneously, while in the event that two different weighing 14 and filling 13 stations are provided, the gripping member 17, 17’ brings the containers 100 to them before the weighing and the filling, respectively.

[0095] The method also comprises a calibration step in which at least one reference piece 30, preferably more than one at a time, for example ten reference pieces 30 at a time, are used to perform a calibration of the weighing member 26.

[0096] According to the present invention, during the calibration step, the reference pieces 30 are picked up and moved with the same gripping member 17, 17’ that is normally used to pick up and move the containers 100.

[0097] The movement of the containers 100 and of the reference pieces 30 can occur both by means of the gripping member 17, wherein there is provided a mechanical same-shape coupling to hold the objects, and also by means of the gripping member 17’, wherein the objects are held with vacuum by means of suckers.

[0098] The calibration step can be carried out at regular intervals or by samples, in any case according to specific sector regulations. Furthermore, preferably, the step of calibrating the weighing device takes place with reference pieces 30 having a unit weight as close as possible to the weight of the product that will be dispensed into the containers 100, or rather to the weight of the product added to that of the empty container 100.

[0099] The method also provides a step of moving the nest 21 by means of the manipulator 16, typically to bring the nest 12 into the supply station 12 filled with containers 100 to be weighed and filled, or to remove the nest 21 from the supply station 12 after all of the containers 100, row after row, have been processed by the apparatus 10. In order to move the nest 21, the frame 19 approaches it from above until the vacuum grippers V of the further gripping members 38 contact the surface of the nest 21.

[0100] The subsequent upward movement of the frame 19 therefore allows to lift the nest 21 with vacuum, in order to extract it from the tub 20 that contains it, as shown in fig. 7. If, on the other hand, the nest 21 has to be disposed inside the tub 20, the frame 19 that holds a nest 21 with vacuum thanks to the further gripping members 38 is disposed on the tub and approaches the latter from above in order to release the nest 21 inside it.

[0101] It is clear that modifications and / or additions of parts or steps may be made to the apparatus 10 and to the method for weighing containers filled with a pharmaceutical product as described heretofore, without thereby departing from the field and scope of the present invention, as defined by the claims.

[0102] It is also clear that, although the present invention has been described with reference to some specific examples, a person of skill in the art will be able to achieve other equivalent forms of an apparatus and a method for weighing containers filled with a pharmaceutical product, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

[0103] In the following claims, the sole purpose of the references in brackets is to facilitate their reading and they must not be considered as restrictive factors with regard to the field of protection defined by the claims.

Claims

CLAIMS1. Method for weighing containers filled with a pharmaceutical product, said method comprising the following steps:- providing a nest (21) having a plurality of apertures (22), each aperture (22) receiving a respective empty container (100) held by the nest (21) in a hanging configuration, each container (100) having a bottom wall (101) and a lateral wall (102) enclosing a hollow space accessible from a top aperture (103);- picking up at least one container (100) at a time from the nest (21) by means of a manipulator (16); - bringing the at least one picked-up container (100) to a filling station (13) using said manipulator (16);- filling the at least one container (100) brought to the filling station (13) using a filling needle (25);- weighing the at least one filled container (100) at a weighing station (14) using a weighing member (26), said container (100) being placed by said manipulator (16) with the bottom wall (101) on the weighing member (26) in an upright configuration with the top aperture (103) facing upwards;- after the weighing step, picking up the at least one weighed container (100) from the weighing member (26); - capping said at least one filled container (100) at a capping station (40) with a respective cap (105) to close the top aperture (103) of the filled container (100) using a capping member (41), wherein said manipulator (16) comprises a gripping member (17; 17’) configured to grip the at least one container (100) when it is picked up, said method being characterized by further comprising a calibration step comprising:- providing a magazine (15) containing at least one reference piece (30) having a known weight;- picking up said at least one reference piece (30) from said magazine (15) by gripping said at least one reference piece (30) using said gripping member (17;17’), and- bringing said at least one reference piece (30) to said weighing station (14) using said manipulator (16), and placing said at least one reference piece (30) on saidweighing member (26) to verify whether the weight outputted by said weighing member (26) corresponds to the known weight of said corresponding reference piece (30), thus verifying whether the weighing station (14) is calibrated.

2. Method as in claim 1, wherein the weighing step is carried out both for the empty and filled container (100).

3. Method as in claim 1 or 2, wherein the filling step is carried out during the weighing step.

4. Method as in any one of the preceding claims, wherein said gripping member (17’) comprises at least a vacuum gripper (V) which grips said at least one container ( 100) with vacuum.

5. Method as in any one of the preceding claims 1 - 3, wherein said gripping member (17) comprises at least one engagement portion (18) having a shape mating with a corresponding engagement portion (110; 34) of said at least one container (100) and of said at least one reference piece (30), and wherein said at least one engagement portion (18) supports alternatively said at least one container(100) and said at least one reference piece (30) by means of a removable mechanical interference connection.

6. Method as in any one of the preceding claims, wherein said at least one reference piece (30) has the same shape and dimensions of said at least one container (100).

7. Method as in any one of the preceding claims, wherein said gripping member(17; 17’) is mounted on a side of a frame (19), said frame being connected to the manipulator (16), wherein a further gripping member (38) is mounted on said frame (19), and wherein said method further comprises, before the step of picking up the at least one container (100) from the nest (21), a step of removing said nest (21) from a tub (20) by lifting the nest (21) using the further gripping member (38) of the manipulator (16).

8. Method as in claim 7, wherein said further gripping member (38) comprises at least a further vacuum gripper (V) which grips the nest (21) with vacuum.

9. Method as in any one of the preceding claims, wherein said magazine (15) comprises a plurality of reference pieces (30) clustered into distinct groups according to their respective weights, and wherein said calibration step is carried out selecting the reference piece / s (30) from the plurality of reference pieces (30) which has / have the weight closer to the weight of the at least one container (100)and the pharmaceutical product which has to be dispensed therein.

10. Method as in any one of the preceding claims, wherein said manipulator (16) is a robotic arm, preferably with at least three degrees of freedom.

11. Method as in any one of the preceding claims, wherein said filling, weighing, and calibration steps are carried out in an isolated chamber (11).

12. Method as in any one of the preceding claims, wherein said gripping member (17; 17’) picks up alternatively a row of a plurality of containers (100) and a row of a plurality of reference pieces (30) at a time, when said manipulator (16) carries out the respective picking up steps, and wherein the filling, weighing and capping steps are carried out on said row of a plurality of containers (100) at a time, and said calibration step is carried out on said row of a plurality of reference pieces (30) at a time.

13. Apparatus (10) for weighing containers (100) filled with a pharmaceutical product, said apparatus (10) comprising: - a nest (21) having a plurality of apertures (22), each aperture (22) receiving a respective empty container (100) held by the nest (21) in a hanging configuration, each container (100) having a bottom wall (101) and a lateral wall (102) enclosing a hollow space accessible from a top aperture (103);- a filling station (13) comprising at least a filling needle (25) configured to fill containers (100);- a manipulator (16) comprising a gripping member (17; 17’) configured to pick up at least one container (100) at a time from the nest (21) and bring it to the filling station (13);- a weighing station (14) comprising a weighing member (26) configured to weigh containers (100), said manipulator (16) being further configured to place the at least one container (100) with the bottom wall (101) on the weighing member (26) in an upright configuration with the top aperture (103) facing upwards;- a capping station (40) comprising a capping member (41) configured to cap said at least one filled container (100) with a respective cap (105) to close the top aperture (103) of the filled container (100); said apparatus being characterized by further comprising:- a magazine (15) containing at least one reference piece (30) having a known weight; and- a controller (36) storing a known weight of said at least one reference piece (30), said controller (30) being connected to the weighing member (26), wherein said gripping member (17; 17’) is configured to pick up said at least one reference piece (30) from said magazine (15) and place it on said weighing member (26), said controller (36) being configured to verify whether the output weight of the weighing member (26) corresponds to the known weight of the corresponding reference piece (30), thus verifying that the weighing station (14) is calibrated.

14. Apparatus (10) as in claim 13, wherein the at least a filling needle (25) and the weighing member (26) are disposed at a distance that allows weighing during filling.

15. Apparatus (10) as in claim 13 or 14, wherein said gripping member (17’) comprises at least a vacuum gripper (V) configured to grip a respective container (100) with vacuum.

16. Apparatus (10) as in any one of the preceding claims 13 - 14, wherein said gripping member (17) comprises at least one engagement portion (18) having a shape mating with a corresponding engagement portion (110; 34) of said at least one container (100) and of said at least one reference piece (30), and wherein said at least one engagement portion (18) is configured to support alternatively said at least one container (100) and said at least one reference piece (30) by means of a removable mechanical interference connection.

17. Apparatus (10) as in any one of the preceding claims 13-16, wherein said gripping member (17; 17’) is mounted on a side of a frame (19), said frame being connected to the manipulator (16), wherein a further gripping member (38) is mounted on said frame (19), and wherein said further gripping member (38) is configured to grip said nest (21) to remove it from a tub (20).

18. Apparatus (10) as in claim 17, wherein said further gripping member (38) comprises at least a further vacuum gripper (V) configured to grip the nest (21) with vacuum.

19. Apparatus (10) as in any one of the preceding claims 13-18, wherein said magazine (15) comprises a plurality of reference pieces (30) clustered into distinct groups according to their respective weights, and wherein said controller (36) stores the respective weights of said reference pieces (30) and is programmed to select the reference piece / s (30) from said plurality of reference pieces (30) whichhas / have the weight closer to the weight of the at least one container (100) and the pharmaceutical product which has to be dispensed therein.

20. Apparatus (10) as in any one of the preceding claims 13-19, wherein said manipulator ( 16) is a robotic arm, preferably with at least three degrees of freedom.

21. Apparatus (10) as in any one of the preceding claims 13-20, further comprising an isolated chamber (11) in which said magazine (15), filling station (13), weighing station (14) and manipulator (16) are disposed.

22. Apparatus (10) as in any one of the preceding claims 13-21, wherein said gripping member (17; 17 ’) is configured to pick up alternatively a row of a plurality of containers (100) and a row of a plurality of reference pieces (30) at a time.

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