Machine and method for filling capsules

Abstract

A filling machine (1) for filling capsules (100) or similar containers with a product comprises a plurality of operating stations (3-8) for operating on the capsules (100); a movement system (2) for transferring the capsules (100) between the operating stations (3-8); a supporting unit (10) comprising an upper supporting element (11), having a plurality of upper seats (17) adapted to house caps (102) of the capsules (100), and a lower supporting element (12), having a plurality of lower seats (18) adapted to house bottoms (101) of the capsules (100); the upper supporting element (11) and / or the lower supporting element (12) are movable with respect to each other between a first operating configuration (A, C), in which the upper seats (17) are superimposed on and aligned with the lower seats (18), and into a second operating configuration (B, D), in which the upper supporting element (11) and / or the lower supporting element (12) are spaced to allow free access from above the bottoms (101) received in the lower seats (18); the movement system (2) is a robotic arm of a robot with at least three degrees of freedom and the supporting unit (10) is removably connected to an operating end (2a) of the robotic arm.

Description

[0001] Machine and method for filling capsules

[0002] The present invention relates to automatic machines for packaging pharmaceutical and / or food products and, in particular, relates to a machine for filling capsules, opercula or similar elements with one or more pharmaceutical or food products or another type of product. The invention also relates to a method for filling capsules in a filling machine.

[0003] Various types of filling machines are known, arranged to fill capsules of the bottom-cap type, typically made of hard gelatin, with liquid pharmaceutical or food products, in powder, granules, tablets, micro-tablets, delayed-action drugs, etc.

[0004] Generally, the known automatic filling machines for capsules comprise means for moving and transferring the capsules through the different operating stations consisting of a turret or transfer wheel, rotating with intermittent motion around a vertical axis and provided with housings or seats suitable for receiving the capsules. The operating stations are arranged apart around the transfer turret which, by rotating, moves the capsules through the said different operating stations, which act on the capsules.

[0005] The operating stations typically comprise a capsule feeding station, a capsule opening station, one or more dosing stations, a capsule closing station and a capsule exit station.

[0006] The transfer turret is generally provided with a plurality of pairs of supporting elements, the pairs being angularly spaced apart along a peripheral edge of the transfer turret. Each pair comprises a lower supporting element, provided with a plurality of lower seats suitable for housing the capsule bottoms and a corresponding upper supporting element provided with a plurality of upper seats suitable for housing the capsule caps. The lower supporting element and the upper supporting element are mutually movable in a radial direction with respect to the turret, between a superimposed position, in which the lower and upper seats are superimposed and aligned to receive the empty capsules in the feeding station or to allow them to be closed and then extracted after filling, and a spaced apart position, in which capsule bottoms, separated from the relative caps, are able to be filled.

[0007] The feeding station comprises means for taking the capsules from a magazine, orienting them correctly (with the bottoms facing downwards), inserting them into the seats of the supporting elements of the transfer turret.

[0008] In one opening station, the capsules are opened, by separating and spacing the caps apart from the respective bottoms, in particular inserting the bottoms into the lower seats of the lower supporting elements and the caps into the upper seats of the upper supporting elements. A certain amount of product is dispensed into the bottoms of the capsules in the dosing station. In the closing station, the caps are superimposed and coupled to the respective bottoms so as to close and recompose the capsules filled with the product which are then conveyed out of the filling machine into the exit station.

[0009] Some filling machines can also comprise a weighing station in which the capsules filled with the product are weighed to verify the correctness of the dosage, and a reject station in which the non-compliant capsules are taken and conveyed outside. A further weighing station can be provided to weigh the empty capsules taken from the magazine.

[0010] In some filling machines the dosing station of products in powder form, in granules, tablets, micro-tablets, delayed action drugs, etc. comprises a dosing turret or wheel, also rotating with intermittent motion about a respective vertical axis and generally provided with two groups of volumetric dosing devices, angularly spaced 180° apart from one another with respect to the vertical axis and capable of picking up defined amounts or doses of product from a reservoir, in a picking position, and transferring and then releasing the doses into the capsule bottoms, in a release position. The volumetric dosing devices of each group are angularly spaced apart and arranged so as to interact with a corresponding number of capsules housed in the seats of the transfer turret.

[0011] In operation, the volumetric dispensers of one group withdraw the product from the reservoir while the volumetric dispensers of the other group are superimposed and adjacent to the capsule bottoms to be filled, so as to transfer and yield the product doses to the latter.

[0012] The dosing station can also comprise a dosing arm which supports at an end thereof a group of volumetric dosing devices and is linearly movable both vertically and horizontally with intermittent motion between a lowered picking position in which the dosing devices are immersed in the product inside the reservoir to load and withdraw respective product doses, and a lowered dosing position in which the aforesaid dosing devices are superimposed and substantially in contact with respective capsule bottoms to dispense the product doses.

[0013] Filling machines are also known in which the transfer turret rotates continuously about the vertical axis and the dosing station is configured to dispense the product doses in the capsule bottoms during the movement thereof.

[0014] The number of operating stations, and in particular the number and type of dosing stations, affects the dimensions of the moving means, typically the diameter of the transfer turret, and in general the dimensions of the entire filling machine, in particular its overall footprint. Even if the filling machine is modular and envisages a modular assembly of the operating stations, with different configurations depending on the user's needs, the dimensions of the transfer turret and the filling machine must still be the maximum which allows the installation of all the operating stations in a complete version of the filling machine.

[0015] Filling machines are also known which comprise instead of the transfer turret an articulated robotic arm capable of transferring the capsules taken from the feeding magazine to the various operating stations.

[0016] Such a type of machine is described for example in document WO 2018 / 104720. In particular, said machine comprises an anthropomorphic or polyarticulated robot capable of moving in space two pairs of sleeves adapted to receive caps and bottoms of two respective capsules. More precisely, the wrist of the robotic rotatably supports an elongated supporting element, onto the two pairs of sleeves are fixed at two opposite ends. Each pair comprises an upper sleeve adapted to house the cap of the capsule and a lower sleeve adapted to house the corresponding bottom. The two sleeves are aligned and superimposed and the lower sleeve is movable between a closed position in which it abuts the upper sleeve, for example to receive the capsule, open it and then close it and an open position, in which the lower sleeve with the capsule bottom is spaced from the upper sleeve and can be removed from the supporting element and rested on a weighing scale or inserted in the dosing station for filling the bottom with the product.

[0017] However, this machine is not suitable for high capsule production. In addition, the procedure of removing and re-inserting the lower sleeves from the supporting element to carry out the steps of filling with the product and weighing the capsule bottoms is quite complex, laborious and slow.

[0018] IT 202000010855 describes a filling machine for filling capsules or similar containers with at least one product comprises a plurality of operating stations for operating on the capsules and a movement system for transferring the capsules through the plurality of operating stations including at least a first dosing station and a second dosing station which are activatable and configured to fill the capsules with respective products. The movement system comprises a linear electric motor, a guide rail extending along a closed-loop movement path and comprising a stator of the linear electric motor and a plurality of transfer carriages associated with the guide rail and provided with respective seats for housing capsule bottoms and caps. The transfer carriages comprise respective rotors of the linear electric motor interacting separately and independently with respective magnetic fields generated by the stator so as to move the respective transfer carriages along the guide rail with an intermittent motion at least at the first dosing station when the latter is activated and / or with a continuous motion at least at the second dosing station when the latter is activated. CN 113520874 discloses a biological capsule filling machine for a pharmacy comprising a workbench, wherein an annular linear motor is mounted at the upper end of the workbench; the annular linear motor comprises an annular magnetic track and a plurality of rotors sliding along the annular magnetic track, and a capsule separation module is arranged at the upper end of each rotor; each capsule separation module comprises a lower capsule disc connected to the rotor and an upper capsule disc that slides back and forth along the lower capsule disc; a plurality of capsule filling grooves are formed in each capsule separation module in a downward penetrating manner; an annular sliding rail is arranged in the magnetic annular rail at the upper end of the workbench, and each capsule feeding disc has a sliding shaft that runs along the annular sliding rail. The machine further comprises a device for dropping and positioning the capsules, a negative pressure capsule separation device, a capsule filling device, a capsule restoring device, and a capsule pushing device which are arranged in sequence on the periphery of the workbench in the direction of the annular magnetic rail, and the annular sliding rail is bent inward at the capsule filling position.

[0019] An object of the present invention is to improve the known filling machines for filling capsules, opercula or similar elements with products in powder, granules, tablets, microtablets, delayed-action drugs, or the like, in particular pharmaceutical or food products.

[0020] Another object is to make a modular filling machine which allows a plurality of operating stations to be assembled according to different configurations.

[0021] A further object is to provide a filling machine having particularly compact dimensions. Still another object is to make a high-performance filling machine with a simple and robust structure and reliable and safe operation.

[0022] A further object is to provide a method for filling capsules in a filling machine in a precise and accurate manner.

[0023] A first aspect of the invention provides a capsule filling machine according to claim 1.

[0024] In a second aspect of the invention there is provided a method for filling capsules according to claim 11.

[0025] The invention can be understood more fully and implemented with reference to the attached drawings, which illustrate exemplary and non-limiting versions of the implementation thereof, in which:

[0026] - Figure 1 is a schematic plan view from above of the capsule filling machine according to the invention equipped with a robotic arm;

[0027] - Figure 2 is a side view of capsule supporting unit connected to an operating end of the robotic arm, partially illustrated, and provided with an upper supporting element and a lower supporting element adapted to house respectively caps and bottoms of the capsules, arranged in a first operating configuration;

[0028] - Figure 3 is a top plan view of the supporting unit of Figure 2;

[0029] - Figure 4 is an enlarged perspective view of the supporting unit of Figure 2;

[0030] - Figure 5 is a top plan view of the supporting unit in a second operating configuration;

[0031] - Figure 6 is a perspective view of the supporting unit of Figure 5;

[0032] - Figures 7 and 8 are side views of the supporting unit respectively in a further first operating configuration and a further second operating configuration;

[0033] - Figures 9 and 10 are respectively side and perspective views of the supporting unit in a disassembled condition of the upper and lower supporting elements, not illustrated;

[0034] - Figure 11 is a side view of a variant of the capsule supporting unit in a respective first operating configuration;

[0035] - Figure 12 is a top plan view of the supporting unit of Figure 11;

[0036] - Figure 13 is a perspective view of the supporting unit of Figure 11;

[0037] - Figure 14 is a top plan view of the supporting unit of Figure 11 in a respective second operating configuration;

[0038] - Figure 15 a perspective view of the supporting unit of Figure 11 in a disassembled condition of the upper and lower supporting elements;

[0039] - Figure 16 is a front view of a capsule to be filled in a closed or assembled configuration and in an open or detached configuration.

[0040] Referring to Figure 1, the filling machine 1 according to the invention arranged to fill capsules 100, opercula or similar containers with one or more liquid, powders, granules, tablets, micro-tablets, delayed-action drugs or similar products, particularly pharmaceutical or food or other products, comprises a plurality of operating stations 3-8 arranged to act on the capsules 100 and a movement system 2 for transferring the capsules 100 to the operating stations 3-8, in particular for moving the capsules in sequence through said operating stations 3-8.

[0041] The capsules 100 are, for example, made of hard gelatin and each formed by a bottom 101 and a respective cap 102 initially mutually associated to allow the opening of the capsule 100 for filling with the product and thus mutually lockable for the subsequent closure of the capsule 100 (Fig. 16).

[0042] With particular reference to Figure 1, the plurality of operating stations comprises, for example, a feeding station 3, an opening station 4, a dosing station 6, a closing station 7 and an output station 8. In the feeding station, 3 empty capsules 100 are taken from a magazine 60 and transferred to the seats 17, 18 of the supporting elements 11, 12 of the movement units 10. In the opening station 4, the caps 102 and the bottoms 101 of the empty capsules 100 are separated and spaced apart and inserted respectively into the upper seats 17 and into the lower seats 18, by opening means of known type, not illustrated and disclosed in detail.

[0043] In the illustrated embodiment, the feeding station 3 and the opening station 4 coincide and the filling machine further comprises a selection and rejection station 5 in which the capsules 100 which remain closed or the capsules which are open but have a double cap or double bottom are ejected from the filling machine 1.

[0044] In the dosing station 6 a product, liquid, powder, granules, tablets, micro-tablets, delayed- action drug, or the like, is dispensed into the bottoms 102 of the capsules 100.

[0045] In the closing station 7 the capsules 100 are closed, coupling the caps 102 to the respective bottoms 101, filled with the product, by closing means of known type, not illustrated and disclosed in detail.

[0046] In the output station 8, the capsules 100 filled with product and closed are extracted and sent in output from the filling machine 1.

[0047] The operating stations are for example arranged adjacent to and aligned along an advancement direction T.

[0048] The filling machine 1 further comprises a control unit 50 suitable for controlling the operation of the operating stations 3-8 and the movement system 2.

[0049] A weighing station can be included after the dosing station 6 for measuring the actual amount of product dosed into the capsules 100. A further weighing station can be included after the feeding station 3 for measuring the weight of the empty capsules 100 taken from the magazine 60.

[0050] The filling machine 1 of the invention can also comprise one or more further dosing stations configured to dispense a respective product into the bottoms 101 of the capsules 100 and a further selection and rejection station in which the defective or non-compliant capsules 100, for example because they contain excessive or insufficient amounts of product, are taken from the movement system 2 and rejected. The further selection and rejection station can be placed downstream of the dosing station 6 with reference to the advancement direction T.

[0051] The movement system 2 comprises a robotic arm of a robot, for example an anthropomorphic or polyarticulated robot, of known type and not described in detail, having in particular three or more degrees of freedom in space and provided with an operating wrist or end 2a adapted to support a supporting unit 10 arranged to house the capsules 100. In particular, the supporting unit 10 is removably, i.e. reversibly, connected to the operating end 2a and comprises an upper supporting element 11, provided with a plurality of upper seats 17 extended along respective upper longitudinal axes Y 1 and configured to receive the caps 102 of the capsules 100, and a lower supporting element 12, provided with a plurality of lower seats 18 extending along respective lower longitudinal axes Y2 and configured to receive the bottoms 101 of the capsules 100.

[0052] The seats 17, 18 of the plurality of upper seats 17 and the plurality of lower seats 18 are arranged aligned on one or more parallel rows.

[0053] The upper supporting element 11 and / or the lower supporting element 12 are movable with respect to each other at least between a first operating configuration A, C in which the upper seats 17 are superimposed on and aligned with the lower seats 18 with the respective upper longitudinal axes Y 1 aligned with the respective lower longitudinal axes Y2 (in particular to allow the insertion, opening, closing and removal of the capsules) and a second operating configuration B, D in which the upper seats 17 are spaced from the lower seats 18 to misalign the longitudinal axes Y1 of the upper seats 17 from the longitudinal axes Y2 of the lower seats 18 and allow free access from above, and in particular filling from above of the bottoms 101 with at least one product.

[0054] In particular, the upper supporting element 11 and / or the lower supporting element 12 are rotatable and / or translatable with respect to each other, preferably parallel to a movement plane M that is almost orthogonal to the longitudinal axes Yl, Y2 of the upper and lower seats 17, 18.

[0055] The supporting unit 10 comprises a supporting body 13 couplable, in particular reversibly, to the operating end 2a of the robotic arm 2 and supporting the supporting elements 11, 12, at least one of which is movably coupled.

[0056] The upper supporting element 11 and / or the lower supporting element 12 may also be movable with respect to each other along a movement direction N that is almost orthogonal to the movement plane M.

[0057] The supporting unit 10 houses a drive unit 41 arranged to move at least one of the upper and lower supporting elements 11, 12 so as to arrange the aforementioned upper and lower supporting elements 11, 12 in the first operating configuration A, C or in the second operating configuration B, D. The drive unit 41 is in particular housed inside the supporting body 13.

[0058] In the embodiment illustrated in the figures, the upper supporting element 11 is movable with respect to the supporting body 13 and the lower supporting element 12 which is fixed to the supporting body 13, i.e. it is not movable with respect to the latter but integral thereto. In particular, the upper supporting element 11 is rotatably connected to the supporting body 13 about an axis of rotation X that is almost parallel to the longitudinal axes Yl, Y2 of the upper and lower seats 17, 18 and is rotatably movable, in particular moved by the drive unit 41, between a closed position Pl in which it is superimposed on the lower supporting element 12 in the first operating configuration A, C and an open position P2 in which it is spaced from the lower supporting element 12 in the second configuration B, D.

[0059] Alternatively, the upper supporting element 11 can be slidably connected to the supporting body 13 and translate or be moved linearly along the movement plane M between the closed position Pl and the open position P2 by the drive unit 41.

[0060] Still alternatively, the upper supporting element 11 may be fixed to and integral with the supporting body 13 and the lower supporting element 12 be movable with respect to the supporting body 13 and the upper supporting element 11, e.g. rotatable about the axis of rotation X.

[0061] As a further alternative, both the upper 11 and lower 12 supporting elements can be movable with respect to the supporting body 13, for example rotatable about the axis of rotation X. With reference to Figures 2 to 6, in the first operating configuration A of the supporting elements 11, 12 the upper seats 17 are superimposed, aligned and adjacent to the lower seats 18, i.e. they are not in abutment or contact with the latter to allow the supporting elements 11, 12 to move freely with respect to each other. The distance separating the upper seats 17 and the lower seats 18 is however minimal and such as to allow the capsules 100 to be inserted and subsequently opened and closed.

[0062] In the second operating configuration B, the upper seats 17 are spaced and rotated with respect to the lower seats 18.

[0063] The upper supporting element 11 can also be movable along the movement direction N, in particular to position the upper seats 17 superimposed, aligned and abutting the lower seats 18 in a further first operating configuration C (fig. 7) or, further spaced from the lower seats 18 in a further second operating configuration D (fig. 8).

[0064] The upper and lower supporting elements 11, 12 are further removably connected to the supporting body 13, in particular so as to be easily disassembled from the supporting unit 10.

[0065] The upper and lower supporting elements 11, 12 are in fact interchangeable with upper and lower supporting elements 11, 12 having upper and lower seats 17, 18 of different size and / or having different number and / or arrangement of seats. In the illustrated embodiment, the lower supporting element 12 comprises a first plate 24, provided with the plurality of lower seats 18, and a first arm 25 that connects the first plate 24 to the supporting body 13. In particular, the first arm 25 extends in a direction parallel to the longitudinal axes Y2 of the lower seats 18 and is removably connected by means of first connection means 31 to the supporting body 13.

[0066] The first connection means 31 comprise a pair of fixing pins 32 extending parallel to each other from a front wall 13a of the supporting body 13. In an assembled configuration of the lower supporting element 12, a free end 25a of the first arm 25 is inserted between the two fixing pins 32 and reversibly fixed thereto, for example by a plurality of screws 33.

[0067] The upper supporting element 11 comprises a second plate 26, substantially the same as the first plate 24, provided with the plurality of upper seats 17 and a second arm 27 connecting the second plate 24 to a drive element 19 rotatably connected to an upper wall 13b of the supporting body 13.

[0068] The second arm 27 comprises a first portion 27a, connected to the second plate 26 from which it extends in a direction parallel to the longitudinal axes Y1 of the upper seats 17, and a second portion 27b connected and orthogonal to the first portion 27a and reversibly fixed to the operating element 19, comprising, for example, a quick coupling / uncoupling unit, of known type, for example a clamping module NSE3 of Shunk®. The drive element 19 is fixed and supported by a drive pin 20 protruding from the supporting body 13 and rotated about the axis of rotation X by the drive unit 41 contained within the supporting body 13.

[0069] The drive unit 41, of known type and not illustrated in detail, comprises an electric or pneumatic rotary actuator.

[0070] The drive pin 20 and the drive element 19 can also be movable along the axis of rotation X moved linearly by a further drive unit 42 contained inside the supporting body 13.

[0071] The further drive unit 42, of known type and not illustrated in detail, comprises, for example, an electric or pneumatic linear actuator.

[0072] With reference to Figures 11 to 15, a variant of the supporting unit 10 is illustrated, which differs from the embodiment described and illustrated in Figures 2 to 10 for the supporting body 23, which comprises a first portion 23a, which can be coupled to the operating end 2a of the robotic arm 2, and a second portion 23b, which is removably coupled to the first portion 23a and supports the upper and lower supporting elements 11, 12.

[0073] The upper and lower supporting elements 11, 12, together with the respective second portion 23b, are interchangeable with upper and lower supporting elements 11, 12 having upper and lower seats 17, 18 of different size and associated with respective second portions 23b. It should be noted that the upper and lower supporting elements 11, 12 form with the relative second portion 23b of the supporting body 23 a single "formed" group or body that can be removed or mounted as a single object from / on the robotic arm 2.

[0074] The first portion 23a and the second portion 23b of the supporting body 23 are reversibly coupled by coupling means 39 comprising, for example, a quick coupling / uncoupling unit, of known type, for example a clamping module NSE3 of Shunk®.

[0075] The first portion 23a of the supporting body 23 comprises and contains the drive unit 41 arranged to move at least one of the upper supporting element 11 and the lower supporting element. For example, the drive unit 41 is arranged to rotate the upper supporting element 11 about the axis of rotation X between the closed position Pl and the open position P2.

[0076] Connection means 35 are provided for reversibly connecting the drive unit 41 contained in the first portion 23a of the supporting body 23 to a drive shaft 34 present in the second portion 23b of the supporting body 23 and which supports and moves the upper supporting element 11.

[0077] In this embodiment, the lower supporting element 12 comprises a first plate 28, provided with the plurality of lower seats 18 and directly fixed to the second portion 23b of the supporting body 23. The upper supporting element 11 comprises a second plate 29, substantially similar to the first plate 26 and provided with the plurality of upper seats 17, and a second arm 30 connecting the second plate 29 to the drive shaft 34 projecting from an upper wall of the second portion 23a and rotatable about the axis of rotation X.

[0078] The connection means 35 comprise, for example, a connecting rod 36 rotatably driven by the drive unit 41 and provided with a pin 37 arranged to be reversibly coupled with a fork connecting rod 38 connected to the drive shaft 34.

[0079] The drive unit 41 includes, for example, an electric or pneumatic rotary actuator.

[0080] The drive shaft 34 and thus the upper supporting element 11 may also be movable along the axis of rotation X, moved linearly by a further drive unit 42 contained within the second portion 23b of the supporting body 23.

[0081] The further drive unit 42 comprises, for example, an electric or pneumatic linear actuator.

[0082] The robotic arm 2 is also configured to perform a plurality of additional activities and / or operations within the filling machine 1 of the invention, such as the suction of product residues in the dosing station, the partial or complete washing of the interior of the machine, various adjustments of the operating units of the machine, etc.

[0083] For this purpose, the operating end 2a of robotic arm 2 is configured to be removably coupled to a respective operating unit to perform respective tasks and / or operations, such as vacuuming product residues, washing components, in the filling machine.

[0084] More precisely, on the operating end 2a, once the supporting unit 10 is disassembled, various operating units suitable for performing the aforementioned activities and / or operations can be mounted, such as for example a suction and washing lance, specific gripping and handling units, etc.

[0085] The operation of the filling machine 1 of the invention provides that the robotic arm 2 moves the supporting unit 10 in sequence through the various operating stations 3-8 to perform the different operations on the capsules 100.

[0086] In operation, each movement unit 10 is positioned initially at the feeding station 3 with the upper supporting element 11 and the lower supporting element 12 arranged in the first operating configuration A, in which the upper seats 17 are superimposed, aligned and adjacent to the lower seats 18 to receive the empty capsules 100 taken from the magazine 60.

[0087] Alternatively, the upper supporting element 11 and the lower supporting element 12 may be arranged in the further first operating configuration C, wherein the upper seats 17 are superimposed, aligned and abutting the lower seats 18.

[0088] In the same station, which also acts as an opening station 4, after the insertion of the capsules in the seats 17, 18, appropriate opening means separate and space apart the caps 102 from the bottoms 101 of the capsules 100 and in particular for inserting them respectively into the upper seats 17 and into the lower seats 18.

[0089] Then the supporting unit 10 is positioned by the robotic arm 2 in the rejection station 5, in which the capsules 100 which have remained closed or the capsules which are open but have a double cap or a double bottom are ejected from the filling machine 1.

[0090] To this end, the upper supporting element 11 and the lower supporting element 12 are arranged in the second operating configuration B, in which the upper seats 17 are spaced apart from the lower seats 18, so as to allow access to the lower seats 18 and the bottoms 101. For this purpose, the upper supporting element 11 is rotated by the drive unit 41 about the axis of rotation X for example by about 90° counterclockwise, with reference to Figures 2 to 6.

[0091] Alternatively, the upper supporting element 11 and the lower supporting element 12 may be arranged in the further second operating configuration D in which the upper supporting element 11 is rotated by the drive unit 41 about the axis of rotation X for example by about 90° counterclockwise and raised along the axis of rotation X by the further drive unit 42. The supporting unit 10 is subsequently positioned by the robotic arm 2 in the dosing station 6 always with the upper supporting element 11 and the lower supporting element 12 arranged in the second operating configuration B (or in the further second operating configuration D). In particular, the supporting unit 10 is positioned in the dosing station 6 to allow the filling of the capsule bottoms 101 with the product, liquid, powder, granule, pellet, micro-compress, delayed action tablets or the like.

[0092] After filling, the upper supporting element 11 and the lower supporting element 12 are returned to the first operating configuration A (or to the further first operating configuration C). For this purpose, the upper supporting element 11 is rotated by the drive unit 41 about the axis of rotation X for example by about 90° clockwise, with reference to Figures 2 to 6. The supporting unit 10 is then positioned by the robotic arm 2 in the closing station 7 where appropriate closing means provide for closing the capsules 100 by coupling the caps 102 to the respective bottoms 101 filled with the product.

[0093] Once the capsules 100 are closed, the supporting unit 10 is transferred from the robotic arm 2 to the subsequent output station 8 in which the capsules 100, filled with product and closed, are extracted from the seats 17, 18 of the supporting elements 11, 12 by special extraction means, of known type, not illustrated and described in detail, for example to be started at the exit of the filling machine 1.

[0094] By means of the robotic arm 2 that supports and moves the capsule supporting unit 10, it is possible to transfer the plurality of capsules 100 taken from the feeding station 3 through the various subsequent operating stations 4-8 quickly and with precision. In particular, it is possible to set and then precisely control the movement and positioning of the supporting unit 10 by appropriately programming the movements and positioning of the robotic arm 2 according to the position, number and type of operating stations present on the filling machine 1 of the invention. The latter can therefore be of a modular type since the position, number and type of operating stations can be selected and varied according to the needs of the user, this only requiring reconfiguring the movement paths of the supporting unit 10 by quickly and easily reprogramming the sequence of movements of the robotic arm 2 through the various operating stations 3-8.

[0095] Furthermore, the supporting unit 10, thanks to the upper 11 and lower 12 supporting elements movable with respect to each other, makes it possible in an easy and efficient way to separate and distance the caps 102 from the bottoms 101 of the capsules 100 (in particular in the opening station 4 with the aid of suitable opening means) to allow the filling of the bottoms 101 with one or more products and then to close the capsules 100 by coupling the caps 102 to the respective bottoms 101 (in particular in the closing station 7 with the aid of suitable closing means).

[0096] The upper supporting element 11, which is provided with the upper seats 17 for the caps 102 of the capsules 100, and the lower supporting element 12, which is provided with the lower seats 18 for the bottoms 101 of the capsules 100, are in fact positionable with respect to each other in the first operating configuration A and in the second operating configuration B. In the first operating configuration A of the supporting elements 11, 12 the upper seats 17 are superimposed, aligned and adjacent to the lower seats 18, for example to receive the empty capsules 100 in the feeding station 3 or to allow opening and closing respectively in the opening station 4 and in the closing station 7. In the second operating configuration B of the supporting elements 11, 12 the upper seats 17 are spaced from the lower seats 18 to allow access to the bottoms 101 housed in the lower seats 18, for example to allow filling with a product.

[0097] The invention also relates to a method for filling capsules 100 or similar containers with at least one product in a filling machine 1 comprising a plurality of operating stations 3-8 configured to operate on capsules 100, a movement system 2 for transferring capsules 100 between operating stations 3-8 and supporting a supporting unit 10 comprising an upper supporting element 11, provided with a plurality of upper seats 17 extending along respective longitudinal axes Y1 and configured to receive caps 102 of the capsules 100, and a lower supporting element 12, provided with a plurality of lower seats 18 extending along respective longitudinal axes Y2 and configured to receive bottoms 101 of the capsules 100. The method comprises the steps of: arranging the upper supporting element 11 and the lower supporting element 12 in a first operating configuration A, C in which the upper seats 17 are superimposed, aligned and adjacent to the lower seats 18; inserting a plurality of empty and closed capsules 100 in the upper and lower seats 17, 18 of the supporting elements 11, 12, arranged in the first operating configuration A, C; opening the capsules 100 by separating and distancing the caps 102 from the bottoms 101 and inserting the caps 102 and the bottoms 101 respectively in the upper seats 17 and in the lower seats 18; bringing the upper supporting element 11 and the lower supporting element 12 into a second operating configuration B, D, in which the upper seats 17 are spaced apart from the lower seats 18; filling the bottoms 101 housed in the lower seats 18 with at least one product; arranging the upper supporting element 11 and the lower supporting element 12 in the first operating configuration A, C; closing the capsules 100 by coupling the caps 102 to the respective bottoms 101; wherein bringing the upper supporting element 11 and lower supporting element 12 into the second operating configuration B, D comprises moving the upper supporting element 11 and / or lower supporting element 12 in order to misalign the longitudinal axes Y1 of the upper seats 17 from the longitudinal axes Y2 of the lower seats 18 to allow free access from above the bottoms 101 housed in the lower seats 18; wherein the movement system 2 is a robotic arm of a robot with at least three degrees of freedom and the supporting unit 10 is removably connected to an operating end 2a of the robotic arm.

[0098] In particular, the step of misaligning the longitudinal axes of the upper 17 and lower seats 18 is carried out by rotating and / or translating with respect to each other the upper supporting element 11 and the lower supporting element 12.

[0099] It is also optionally provided to move the upper supporting element 11 and / or the lower supporting element 12 along a movement direction N that is almost orthogonal to the movement plane M.

Claims

CLAIMS1. Filling machine (1) for filling capsules (100) or similar containers with at least one product such as powder, granules, pellet, micro-tablets, or the like, said filling machine (1) comprising:- a plurality of operating stations (3-8) for operating on said capsules (100);- a movement system (2) for transferring said capsules (100) throughout the operating stations (3-8);- a supporting unit (10) comprising an upper supporting element (11) having a plurality of upper seats (17) extending along respective upper longitudinal axes (Yl) and configured to receive caps (102) of said capsules (100), and a lower supporting element (12) having a plurality of lower seats (18) extending along respective lower longitudinal axes (Y2) and configured to receive bottoms (101) of said capsules (100), said upper supporting element (11) and said lower supporting element (12) being movable with respect to each other at least between a first operating configuration (A, C), in which said upper seats (17) are superimposed on said lower seats (18) with their respective upper longitudinal axes (Yl) aligned with their respective lower longitudinal axes (Y2), and a second operating configuration (B, D), in which said upper supporting element (11) and / or said lower supporting element (12) are spaced in order to misalign the upper longitudinal axes (Yl) of the upper seats (17) with respect to the lower longitudinal axes (Y2) of the lower seats (18) to allow free access from above the bottoms (101) received in the lower seats (18), characterized in that said movement system (2) is a robotic arm of a robot with at least three degrees of freedom and in that said supporting unit (10) is removably connected to an operating end (2a) of said robotic arm.

2. Filling machine (1) according to claim 1, wherein said upper supporting element (11) and said lower supporting element (12) are rotatable and / or translatable with respect to each other, preferably at least parallel to a movement plane (M) that is almost orthogonal to said upper and lower longitudinal axes (Yl, Y2).

3. Filling machine (1) according to claim 2, wherein said upper supporting element (11) and said lower supporting element (12) are also movable with respect to each other along a movement direction (N) that is almost orthogonal to said movement plane (M).

4. Filling machine (1) according to one of the preceding claims, wherein said supporting unit (10) houses a drive unit (41, 42) for moving at least one of said upper and lowersupporting elements (11, 12) so as to arrange said upper and lower supporting elements (11, 12) in said first operating configuration (A, C) and in said second operating configuration (B, D).

5. Filling machine (1) according to one of the preceding claims, wherein said supporting unit (10) comprises a supporting body (13; 23) couplable to said operating end (2a) of said movement system (2) and supporting said upper and lower supporting elements (H, 12).

6. Filling machine (1) according to claim 5, wherein said supporting body (23) comprises a first portion (23a) couplable to said operating end (2a) of said robotic arm (2) and a second portion (23b) removably coupled to said first portion (23a) and supporting said upper and lower supporting elements (11, 12), said upper and lower supporting elements (11, 12) together with the respective second portion (23b) being interchangeable with upper and lower supporting elements (11, 12) having upper and lower seats (17, 18) of different format and associated with respective second portions (23b).

7. Filling machine (1) according to claim 5 or 6, wherein said upper supporting element (11) is rotatably connected to said supporting body (13; 23b) about an axis of rotation (X) that is almost parallel to said upper and lower longitudinal axes (Yl, Y2), and is rotatably movable between a closed position (Pl), wherein the upper supporting element (11) is superimposed on the lower supporting element (12) in the first operating configuration (A, C), and an open position (P2) in which the upper supporting element (11) is spaced from the lower supporting element (12) in the second configuration (B, D).

8. Filling machine (1) according to one of the preceding claims, wherein said operating end (2a) is further configured to be removably coupled to a respective operating unit to perform respective activities and / or operations, such as sucking product residues, washing components, in said filling machine (1).

9. Filling machine (1) according to one of the preceding claims, wherein said plurality of operating stations (3-8) comprises at least one feeding station (3), in which empty capsules (100) are taken from a magazine (60) and transferred to said movement system (2) of said supporting unit (10), an opening station (4), in which caps (102) and bottoms (101) of the capsules (100) are separated and inserted respectively in said upper seats (17) and said lower seats (18), a dosing station (6), in which at least one product is dispensed into the bottoms (101) of said capsules (100), a closing station (7) in which the capsules (100) are closed by coupling the caps (102) to the respective product-filledbottoms (101), and an output station (8), in which the capsules (100) filled with product and closed are extracted from the supporting units (10).

10. Filling machine (1) according to one of the preceding claims, comprising a control unit (50) for controlling said operating stations (3-8) and said movement system (2).

11. Method for filling capsules (100) or similar containers with at least one product in a filling machine (1) comprising a plurality of operating stations (3-8) for operating on said capsules (100), a movement system (2) for transferring the capsules (100) between the operating stations (3-8) and supporting a supporting unit (10) comprising an upper supporting element (11) having a plurality of upper seats (17) extending along respective upper longitudinal axes (Yl) and configured to receive caps (102) of said capsules (100), and a lower supporting element (12), having a plurality of lower seats (18) extending along respective lower longitudinal axes (Y2) and configured to receive bottoms (101) of said capsules (100), said method comprising the steps of- arranging said upper supporting element (11) and said lower supporting element (12) in a first operating configuration (A, C) in which said upper seats (17) are superimposed on said lower seats (18) with their respective upper longitudinal axes (Yl) aligned with their respective lower longitudinal axes (Y2);- inserting a plurality of empty and closed capsules (100) in said upper and lower seats (17, 18) of said supporting elements (11, 12);- opening said capsules (100) by separating the caps (102) from the bottoms (101) and inserting said caps (102) and said bottoms (101) respectively in the upper seats (17) and in the lower seats (18);- bringing said upper supporting element (11) and said lower supporting element (12) into a second operating configuration (B, D) in which said upper seats (17) are spaced from said lower seats (18);- filling said bottoms (101) housed in said lower seats (18) with at least one product;- rearranging said upper supporting element (11) and said lower supporting element (12) in said first operating configuration (A, C);- closing said capsules (100) by coupling the bottoms (101) to the respective caps (102); wherein the step of bringing said upper supporting element (11) and said lower supporting element (12) into said second operating configuration (B, D) is carried out by moving said upper supporting element (11) and / or said lower supporting element (12) in order to misalign the upper longitudinal axes (Yl) of the upper seats (17) withrespect to the lower longitudinal axes (Y2) of the lower seats (18), to allow free access from above to the bottoms (101) housed in the lower seats (18), said method being characterized in that said movement system (2) is a robotic arm of a robot with at least three degrees of freedom and in that said supporting unit (10) is removably connected to an operating end (2a) of said robotic arm.

12. Method according to claim 11, wherein the step of misalignment is obtained by rotation and / or translation with respect to each other of said upper supporting element (11) and said lower supporting element (12), preferably at least parallel to a movement plane (M) that is almost orthogonal to said upper and lower longitudinal axes (Yl, Y2).

13. Method according to claim 12, further comprising moving said upper supporting element (11) and / or said lower supporting element (12) along a movement direction (N) that is almost orthogonal to said movement plane (M).

14. Method according to one of claims 11 to 13, wherein the step of arranging said upper supporting element (11) and said lower supporting element (12) is realized by means of a drive unit (41, 42) housed inside said supporting unit (10).

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