Patent Description:
In particular, the containers are configured to contain various types of products, both fluid and solid and in powder form, for example drugs, food, or beverages. Furthermore, the transport of each container, or group of containers, occurs independently, with no constraint in its direction, and possibly neither in its path, in a safe and clean environment, by means of devices and apparatuses that require human intervention reduced to a minimum, or close to zero.

The present invention also concerns the corresponding method to weigh the containers as above.

In the industrial field of automated filling of containers, machines to fill and weigh containers are known, often provided with transport devices to automatically transport one or more containers from and to one or more work stations, which include for example a filling station and one or more weighing stations, many of which have been designed, manufactured and marketed by the Applicant.

The containers can have different shapes and sizes, from small vials for medicines, with a capacity of a few milliliters, to more capacious containers, with a capacity greater than one liter, able to contain fluid products, in particular liquids, or solids or in powder form.

Normally, known filling and weighing machines comprise a plurality of work stations, such as for example a storage station for the empty containers, a possible first weighing station for each empty container, a station to fill the containers, a second station to weigh each filled container, a station to close each container and a station to pack, or package, the filled containers, ready for delivery, or for storage in a warehouse of finished products.

One of the important aspects in such filling and weighing machines, but not only in them, is the need to weigh the containers, individually, or grouped together, before they are filled, possibly during the filling step and/or after they have been filled. Moreover, especially in certain sectors, such as for example the pharmaceutical one, each weighing, to verify the correct dosage, must be very accurate and precise, with tolerances even in the range of one milligram.

The weighing stations, usually associated with the filling stations and being disposed in a corresponding or neighboring zone, are generally equipped with one or more weighing units which receive the container or group of containers to be weighed from a movement device, for example, automated and possibly robotic, perform the weighing operation and finally make the container or group of containers available to another, or possibly the same, movement device that picks them up in order to move them to the next work station.

The need to position the containers on the weighing unit on each occasion and to pick them up at the end of the weighing operation decreases the overall productivity of the machine.

This method can therefore be rather slow, and the continuous passes of containers held by the movement devices and released and deposited on the weighing unit and vice versa, as well as slowing down the production flow, can cause product spills or damage to the container, as well as possible errors in measuring the weight.

There is therefore a need to perfect a machine to fill and weigh containers and a corresponding weighing method which can overcome at least one of the disadvantages of the state of the art.

In particular, one purpose of the present invention is to provide a machine to fill and weigh containers which allows to reduce the time required to weigh the containers and, at the same time, increases the overall productivity of the machine.

Another purpose of the present invention is to provide a machine to fill and weigh containers which allows to reduce the minimum operations necessary to weigh them.

Another purpose of the present invention is to perfect a method to weigh the containers as above which takes place without slowing down and/or stopping the moving containers and which is moreover simple, rapid, precise and above all reliable.

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

In accordance with the above purposes, a machine to fill and weigh containers comprises at least one movement device configured to transport one or more containers between at least two work stations disposed in a work direction which defines a movement path between the two work stations. At least one of the work stations is suitable to fill the containers.

In accordance with one aspect of the present invention, along the movement path as above there is at least one weighing device comprising a weighing plate and configured to acquire the measurement of the mass of the one or more containers on the weighing plate.

The least one movement device comprises at least one gripping member configured to support and hold, preferably in a stable manner, the one or more containers along the movement path.

In accordance with one aspect of the present invention, the movement device is configured to be moved without interruption in the work direction while the containers are weighed, supported by the gripping member on the weighing plate, the gripping member. In doing so, the gripping member is disposed at a weighing distance with respect to the weighing plate such as to allow, during the weighing, a release of the one or more containers with respect to the gripping member that holds them in a release direction that is substantially perpendicular with respect to a support plane comprised in the weighing plate. Furthermore, the gripping member is configured to apply a thrust in the work direction against the one or more containers supported by it, during the weighing of the containers.

The at least one movement device is therefore configured to transport the one or more containers as above by means of the at least one gripping member in the work direction so that the one or more containers are thrust by the gripping member in such direction while they are weighed.

In accordance with some embodiments, the movement device is configured to move at a constant speed during the weighing of the one or more containers as above.

In accordance with some embodiments, the support surface of the weighing plate has a predefined length sufficient to allow the acquisition of the measurement of the mass of the containers while they are moved without interruption on the support surface by the movement device.

In accordance with some embodiments, the release direction is substantially vertical and the release of the one or more containers occurs by lifting them with respect to the gripping member.

According to another aspect of the present invention there is also provided an assembly to fill and weigh containers, comprising one or more containers, at least one movement device configured to transport the containers along a movement path between at least two work stations, and provided with at least one gripping member configured to support and hold the containers along the movement path, and at least one weighing device comprising a weighing plate disposed along the movement path and configured to acquire the measurement of a mass during a weighing step.

In particular, the movement device is configured to transport the containers between the two work stations as above which are disposed in a work direction that defines a movement path between the two work stations, wherein at least one work station is suitable to fill the containers.

According to one aspect, the movement device is configured to be moved without interruption in the work direction while the weighing of the containers is carried out, supported by the gripping member on the weighing plate, the latter cooperating with a base end of the containers so that during the weighing the containers are released by the gripping member in a release direction that is substantially perpendicular to a support plane of the weighing plate. The gripping member is configured and moved to apply a thrust in the work direction against the containers supported by it during the weighing of the containers, obtained while the movement device moves without interruption on the weighing plate.

According to some embodiments, the weighing plate is disposed and configured to lift the container during the weighing from a first height, defining a first distance between the base end and a holding plane of the gripping member, to a second height, smaller than the first height, defining a second distance between the base end and the holding plane.

According to another aspect of the present invention, a method is provided to weigh containers in a machine to fill and weigh containers. The method provides a step of moving the one or more containers, each having a respective base end, by means of a respective movement device, between at least two work stations disposed in the work direction that defines the movement path between the two work stations, at least one of which is suitable to fill the containers. During the movement, the one or more containers are held by at least one gripping member of the movement device.

The method also comprises a step of weighing, by means of a weighing device disposed along the movement path, the one or more containers as above, making them advance along the movement path on a weighing plate of the weighing device. According to one aspect of the method, in the weighing step, the one or more containers supported by the gripping member are moved without interruption in the work direction by means of the movement device and such one or more containers cooperate with the weighing plate as above so that during the weighing they are released by the gripping member in a release direction that is substantially perpendicular to a support plane of the weighing plate, so as to acquire the measurement of the mass while the one or more containers are made to advance without interruption on the weighing plate in the work direction. Furthermore, during the weighing step it is provided that the gripping member thrusts the one or more containers supported by it in the work direction as above during the weighing of the containers, obtained while the movement device moves without interruption on the weighing plate.

We will now refer in detail to the various embodiments of the present invention, of which one or more examples are shown in the attached drawings. Each example is supplied by way of illustration of the invention and shall not be understood as a limitation thereof. For example, the characteristics shown or described insomuch as they are part of one embodiment can be adopted on, or in association with, other embodiments to produce another embodiment. It is understood that the present invention shall include all such modifications and variants.

Embodiments described using the attached drawings concern a machine to fill one or more containers <NUM> with one or more products and to weigh them, indicated as a whole with reference number <NUM> in <FIG>.

In accordance with some embodiments, the products with which to fill the containers <NUM> can be fluid products, in particular liquids, or solid or powdered products, or gels, or also in granular, tablet, pill, bar or similar form, or a combination thereof, for example drugs, dietary supplements, food stuff, or beverages.

In particular, the containers <NUM> in question here can have different shapes, sizes and therefore containing capacities, from just a few milliliters to a number of liters. For example, containers can be provided that have the shape of a small vial for drugs with an external diameter of the order of millimeters and a capacity of the order of milliliters, for example from <NUM> to <NUM> milliliters, containers that have the shape of a vial with an external diameter of the order of centimeters and a capacity of the order of centiliters, for example from <NUM> to <NUM> centiliters, or also containers that have the shape of a vial, a syringe or a carpule®, with a capacity of the order milliliters, for example from <NUM> to <NUM> milliliters.

In accordance with some embodiments, the machine <NUM> is provided with at least one movement device <NUM> configured to transport one or more containers <NUM> between at least two work stations <NUM> disposed in a work direction F which defines a movement path between the two work stations <NUM> as above.

At least one of the work stations <NUM> is suitable for filling the containers <NUM> with one or more of the products as above.

In accordance with one aspect of the present invention, along the movement path there is at least one weighing device <NUM> for acquiring the measurement of the mass of the one or more containers <NUM> on a weighing plate <NUM> of the weighing device <NUM>.

The acquisition of the measurement of the mass is carried out while the one or more containers <NUM> are made to advance without interruption on the weighing plate <NUM>, in contact with the latter, in the work direction F.

The at least one movement device <NUM> comprises at least one gripping member <NUM> configured to support and hold, in particular in a stable manner, the one or more containers <NUM> along the movement path.

The weighing plate <NUM> is configured and disposed to cooperate with the one or more containers <NUM> moved by the movement device <NUM>, so as to determine a release of the one or more containers <NUM> by the at least one gripping member <NUM> in a direction substantially perpendicular to a plane on which the weighing plate <NUM> lies, in the example in a vertical direction with respect to a substantially horizontal holding plane P of the one or more containers <NUM>.

In particular, the weighing plate <NUM> is configured to determine a release of the one or more containers <NUM> by the at least one gripping member <NUM> in a release direction X so that the one or more containers <NUM> rest completely on the weighing plate <NUM>, while they are held by the at least one gripping member <NUM> in a direction parallel to the work direction F, so that the one or more containers <NUM> are guided in the advancement while they are weighed.

The weighing of the containers <NUM> therefore occurs while they are positioned slidingly in contact with the weighing plate <NUM>, thanks to the thrust action exerted in the work direction F by the gripping member <NUM> against the containers <NUM>.

This allows to obtain, advantageously, a measurement of the mass of the containers <NUM> which is reliable and precise while the containers <NUM> are moved without interruption in the work direction F. This is possible because on the one hand the gripping member <NUM> continues to exert a constraining action on the containers <NUM> in the work direction F, but on the other hand it ceases to exert any constraint in the release direction X, since these holding constraints could influence the measurement of the mass and falsify, at least in partly, the measurement itself.

In particular, the movement device <NUM> is configured to transport the one or more containers <NUM> by means of the at least one gripping member <NUM> in the work direction F so that the one or more containers <NUM> while they are weighed.

In accordance with some embodiments described here, the machine <NUM> comprises a reference surface <NUM> in association with which the one or more work stations <NUM> as above are disposed, and in association with which the one or more movement devices <NUM> provided operate. In particular, the reference surface <NUM> can be either vertical, as in <FIG>, or horizontal, as in <FIG>, or a combination of vertical and horizontal, or also flat, or also inclined by a desired angle, or a combination of inclined surfaces, or curved, undulated, or also irregular and can, in some embodiments, also have any geometric discontinuity whatsoever.

In accordance with possible embodiments, shown in <FIG>, the work stations <NUM> can comprise a first station 12A, used for filling the containers <NUM> with one or more of the products as above, and a second station 12B used for closing/sealing the containers <NUM>. The first work station 12A is disposed upstream of the second work station 12B in the work direction F and between them the at least one weighing device <NUM> is present.

In accordance with a different embodiment, the weighing device <NUM> can be disposed upstream of the first station 12A used for filling the containers <NUM>, and it is also possible to have two weighing devices <NUM>, respectively upstream and downstream of the first station 12A used for filling containers <NUM>.

Optionally, although not necessarily, the machine <NUM> can comprise other work stations 12C, 12D disposed, depending on the function they perform, upstream or downstream of the first work station 12A and of the second work station 12B.

In the example of <FIG>, the machine <NUM> can comprise a station 12C to store the empty containers <NUM> which is disposed upstream of the first work station 12A, and a packaging station 12D configured to package, or pack, the filled and closed containers <NUM> disposed downstream of the second work station 12B. Possibly, the machine <NUM> can comprise other work stations <NUM> such as for example a storage station configured to store the packages, or packs, of containers <NUM> ready for use.

It should be noted that the number and disposition of the work stations <NUM>, which in <FIG> are shown aligned along a rectilinear path, are described and represented schematically here only by way of example and to better explain the present invention. In fact, the disposition of the work stations <NUM> can be chosen at will as a function of the operational production requirements.

Such work stations <NUM> are disposed one after the other in the work direction F which defines the main direction of development of the machine <NUM>. This work direction F defines a path between the work stations <NUM> which is not necessarily represented by a straight line, but it can also be a curve or a segment of a curve, for example, a circle, an ellipse or other curve, or part thereof.

In accordance with some embodiments of the movement device <NUM>, described with reference to <FIG>, the at least one gripping member <NUM> of each movement device <NUM> is provided with at least one holding seating <NUM> with an aperture <NUM> through which a part of each of the containers <NUM> protrudes downward, wherein the weighing plate <NUM> is configured and disposed to support the protruding part of the container <NUM> when the gripping member <NUM> supporting the containers <NUM> is moved without interruption on the weighing plate <NUM>. More particularly, the protruding part of each container <NUM> can be identified as the base end <NUM> with which each container <NUM> is provided, as will be evident from the following description of an example embodiment of the containers <NUM> to be weighed.

In particular, the holding seating <NUM> has the aperture <NUM> on the bottom and an upper aperture <NUM> opposite said aperture <NUM>, the latter configured to receive the container <NUM>. The upper aperture <NUM> has a passage gap greater than the aperture <NUM>, <FIG>.

The upper aperture <NUM> has, in particular, a transverse size correlated to a transverse size of the container <NUM>, to allow it to enter the holding seating <NUM>. In particular, the transverse size of the upper aperture <NUM> is slightly greater than the corresponding transverse size of the container <NUM>, with the aim of preventing the latter from oscillating during movement.

The aperture <NUM>, on the other hand, has a transverse size correlated to a transverse size of the base end <NUM> of the container <NUM> to allow the container <NUM> to partly protrude downward, although it is held by interference in said holding seating <NUM>.

The holding seating <NUM> has, between the upper aperture <NUM> and the aperture <NUM>, a lateral surface <NUM> configured to limit the oscillatory movement of the container <NUM> during its movement between the work stations <NUM> and to axially hold the container <NUM>, thus preventing unwanted movements thereof that are transverse to the work direction F.

The lateral surface <NUM> can have a flared profile that narrows from the upper aperture <NUM> toward the aperture <NUM>. Advantageously, the lateral surface <NUM> has this flared profile only in the proximity of the aperture <NUM>.

In accordance with some embodiments, shown in <FIG> and <FIG>, each of the gripping members <NUM> comprises at least one support arm <NUM> provided with one or more of the holding seatings <NUM>. The holding seatings <NUM> of respective support arms <NUM> of the gripping members <NUM> can be identical to each other, or different, according to requirements.

In some embodiments, which can be combined with all the embodiments described here, each movement device <NUM> comprises a support member <NUM> associated with the reference surface <NUM>. In possible implementations, each of these support members <NUM> can have the form of a plate, or a tile or other desired shape. For example, these support members <NUM> can have a regular or irregular polygonal base, that is, plan, in particular quadrangular, for example square or rectangular, or other polygonal shapes and possibly non-regular polygonal shapes, defined by a closed broken line that defines a shaped profile.

In accordance with some embodiments, the support members <NUM> can provide anchoring holes disposed in a perimetric manner and in a central zone of each support member <NUM>, the anchoring holes being configured to receive attachment means for clamping the support arms <NUM> of each movement device <NUM> into a specific and desired position.

In accordance with some embodiments, even more than one movement device <NUM> can be provided, for example two disposed adjacent.

In accordance with some embodiments, shown in <FIG> and in <FIG>, the gripping members <NUM> of two adjacent movement devices <NUM> comprise support arms <NUM> provided with one or more symmetrical holding half-seatings cooperating with each other to define, when aligned and adjacent in contact, the holding seatings <NUM>.

In accordance with some embodiments described here, we will refer, by way of a non-limiting example, to the type of container <NUM> shown for example in <FIG>, where the container <NUM> is represented as a vial. However, as it can be easily ascertained, the embodiments described here can also concern containers <NUM> of different sizes, shapes and characteristics.

Each container <NUM> is, in general, provided with a lateral wall, or shell <NUM> internally delimiting a chamber 110a suitable to contain one or more substances, possibly open or that can be opened upward to allow its filling.

The container <NUM> can be provided with an upper mouth <NUM> possibly open at the upper part for the insertion of the product and subsequently sealed in the second station 12B if used for closing/sealing the containers <NUM>.

Preferably, the container <NUM> has a transverse size, that is the external diameter of the lateral wall <NUM>, which is correlated to the size of the holding seating <NUM>. In particular, in order for the container <NUM> to be received in the holding seating <NUM>, the lateral wall <NUM> has a smaller diameter than that of the upper aperture <NUM> and of the lateral surface <NUM>, but close to the sizes of the upper aperture <NUM> and of the lateral surface <NUM> to prevent the container <NUM> from oscillating during the movement between the work stations <NUM>.

In accordance with some embodiments, the container <NUM> can comprise the base end <NUM>, positioned on the opposite side with respect to the upper mouth <NUM>, being protruding from the holding seating <NUM> through the aperture <NUM> in order to cooperate with the weighing device <NUM> as described above.

In accordance with some embodiments, shown in <FIG>, the holding seating <NUM> defines the holding plane P for the container <NUM> positioned therein, with respect to which the container <NUM> can be displaced vertically in the release direction X from a support position to a drawing position.

In the support position, the container <NUM> is partly protruding downward by a first height H1 and is supported vertically by the gripping member <NUM>.

In the drawing position, when the container advances on the weighing plate <NUM>, the container <NUM> is partly protruding downward, with respect to the holding seating <NUM>, by a second height H2 smaller than the first height H1, and is supported vertically by the weighing plate <NUM>. In this way, the gripping member <NUM> guarantees only a constraint in the work direction F. In other words, in the drawing position the container <NUM> is substantially released by the gripping member <NUM> which only guarantees a constraint in the work direction F, so that it can continue to advance even while it is weighed. The second height H2 is such that the container <NUM> is slidingly resting on the weighing plate <NUM> so that the container <NUM>, in this drawing position, is substantially supported only by the weighing plate <NUM>.

In accordance with some embodiments, in order to engage the container <NUM> and determine its lifting as described above, the weighing plate <NUM> of the weighing device <NUM> can be provided with a shaped edge <NUM> positioned so as to be intercepted by an advancing container <NUM>, held and moved by the at least one movement device <NUM>, thus cooperating with the base end <NUM> of the same container <NUM>, in such a way as to lift it vertically with respect to the holding plane P from the support position to the drawing position. In this way, the protruding portion of the container <NUM> passes from the first height H1 to the second height H2. It should be noted that the protruding portion of the container <NUM> is equal to the second height H2 when the gripping member <NUM> is at a weighing distance with respect to the weighing plate <NUM> which is such as to allow, during weighing, a release of the containers with respect to the gripping member <NUM> in the release direction X.

The shaped edge <NUM> can have a beveled stepped or inclined plane profile, to act as a lead-in to intercept the container <NUM> and determine its gradual lifting, preventing sudden movements or collisions that could cause damage to the container <NUM> or unwanted movements or oscillations of the product present in the container <NUM>.

In essence, the shape of the shaped edge <NUM> with a beveled step or an inclined plane determines a conversion of the linear feed motion of the container <NUM> in the work direction F, into a motion having, in addition to a feed motion component parallel to said work direction F, also a lifting motion component perpendicular to said work direction F, thus passing from the first height H1 to the second height H2. At the end of the shaped edge <NUM>, the motion of the container <NUM> resting on the weighing plate <NUM> continues without interruption with a single linear motion component parallel to the work direction F at the height H2, until it meets another shaped edge <NUM> which , as explained in detail below, in a similar manner determines a lowering of the container <NUM> from the second height H2 to the first height H1, so that it can then continue aligned with the work direction F.

In accordance with some embodiments, shown in <FIG>, the weighing plate <NUM> is provided at the upper part with a support plane, or surface L, which is in fact the active surface along which the weighing is carried out configured to temporarily receive the containers <NUM> resting during their movement in the work direction F. This support plane, or surface, L, has a predefined length W measured in the work direction, which is sufficient to allow the acquisition of the measurement of the mass of the containers while they are moved without interruption on the support plane L by the gripping member <NUM>. In this condition, the container <NUM> is in the drawing position as above, in which the distance between the support plane L and the holding plane P corresponds to the second height H2. In this drawing position, the container <NUM> is made to advance, therefore, with all of its mass bearing on the weighing plate <NUM>.

In this way, the weight force of the container <NUM> is fully exerted on the weighing plate <NUM> while the movement device <NUM> makes the same container <NUM> to be weighed advance along the weighing plate <NUM>. Consequently, the measurement of the mass is carried out in motion, "on the fly", that is, without pauses, and always maintaining the container <NUM> gripped and fed by means of the gripping member <NUM>.

After the weighing, the same movement device <NUM> continues to make the container <NUM> advance toward the second work station 12B in the work direction F. In this way, the weighing time is exploited, which otherwise would not be used for advancement purposes, to continue to make the container <NUM> advance, thereby improving productivity, at the same time preventing phenomena of so-called oscillations or "sloshing" of the contained product due to repeated pauses and re-starts for weighing that are carried out in the state of the art.

In accordance with possible embodiments, the movement device <NUM> can perform a combination of vertical movements to allow the one or more containers <NUM> to cooperate with the weighing device <NUM>. In particular, the movement device <NUM> can perform at least a first vertical movement to take the one or more containers <NUM> at a height greater than or equal to the height of the support surface L and a second vertical movement downward to make the container <NUM> rest on the respective weighing plate <NUM>.

In particular, the fact that the container <NUM> is constantly held by the gripping members <NUM> of the movement device <NUM> and that the latter is fed without interruptions in the work direction F, allows to considerably reduce the work times, since the container <NUM> is always in motion. Furthermore, the continuous movement of the container <NUM> allows to prevent accelerations/decelerations which could cause product spillage from the container <NUM> or long stabilization times of the measurement.

In accordance with some embodiments, the weighing device <NUM> is configured to carry out in sequence a plurality of detections of the weight of the container <NUM> as it advances on the weighing plate <NUM>; the average of the detections acquired, after a first possible over-elongation, provides the weight value determined in accordance with the present invention. Possibly, the influence of the frictional force between container <NUM> and weighing plate <NUM> is modeled and taken into consideration to further refine the measurement of the weight force. In this way, it is therefore possible to weigh the one or more containers <NUM> "on the fly", that is, without pauses, while they are fed from one work station <NUM> to the other. Advantageously, the length W of the support surface L is such as to allow the weighing device <NUM> to carry out a plurality of samplings of the mass of the container <NUM>, which can be used to obtain an average value, for example an arithmetic average value, of the weight of the container <NUM> and/or of the product contained therein.

As indicated above, in accordance with some embodiments, the weighing plate <NUM> is provided with another shaped edge <NUM>, opposite the shaped edge <NUM> and with a shape mating therewith, advantageously a downwardly inclined plane shape, which is conformed and positioned so as to allow a gradual disengagement of the base end <NUM> of the container <NUM>. In this way, once the weighing is finished, the container <NUM> translates vertically downward with respect to the holding plane P from the drawing position to the support position, and consequently the protruding portion of the container <NUM> passes from the second height H2 to the first height H1.

In accordance with some embodiments, the weighing device <NUM> comprises suitable scales able to measure weight, or similar means for measuring weight.

For example, such scales can comprise at least one support mean <NUM> which supports the weighing plate <NUM> and which projects from weight measuring means <NUM>. The weight measuring means <NUM> are advantageously used to process the plurality of weight detections carried out while the container <NUM> advances in the work direction F, as described above.

In possible embodiments, the weighing device <NUM> can include a load cell, for example a load cell with extensometer, a hydraulic or hydrostatic load cell, a piezoelectric load cell, a vibrating wire load cell, a magnetic force compensation load cell or a capacitive load cell.

In accordance with some embodiments, the holding plane P defined by the bottom aperture <NUM> of the holding seating <NUM> is substantially parallel to the support plane L and disposed above the latter, at least when the container <NUM> is in the drawing position.

The present invention provides that the movement devices <NUM> are configured to automatically grip and transport one or more containers <NUM> along the machine <NUM>, for example in the work direction F, according to desired paths or directions, for example to carry out a desired work cycle as a function of the work stations <NUM> which are specifically provided or used.

In accordance with possible embodiments, the movement devices <NUM> can comprise electromechanical, electric or magnetic movement devices, such as for example trolleys, sliders, slides, shuttles or other movement members, which are sliding, for example, with respect to guides, rails or tracks defining a movement path in the work direction F. The containers <NUM> are moved in this manner, with respect to the reference surface <NUM>, between the various work stations <NUM> where they can be picked up, filled, packaged and stored, and generally processed.

In accordance with other possible embodiments, the movement devices <NUM> can comprise robotic automated devices, for example anthropomorphic, comprising one or more articulated mechanical arms, possibly robotic, configured to manipulate the containers <NUM> in order to pick them up and move them from one work station <NUM> to the other and possibly also within the individual work stations <NUM> in aid of the individual operations envisaged.

In accordance with still further possible embodiments, the movement devices <NUM> can comprise mechanical and motorized transport devices or equipment, which comprise, for example, conveyor belts, turntables or carousels, gears, chains, slides, lifters or other devices known to a person of skill in the art.

In accordance with still further embodiments, shown in <FIG>, the movement devices <NUM> can comprise magnetic movement devices <NUM> of the contactless type. Advantageously, these magnetic movement devices <NUM> of the contactless type allow to move the containers <NUM> on the reference surface <NUM>, whether it be vertical (<FIG>), horizontal (<FIG>) or otherwise inclined or shaped, with no constraint in direction or path, independent and without generation of particulate due to rubbing, guaranteeing a safe and clean environment, particularly required in the pharmaceutical packaging sector.

The reference surface <NUM> provides, in correspondence with the free zone between the first work station 12A and the second work station 12B, the at least one weighing device <NUM> which can be associated with the reference surface <NUM> or positioned immediately close to the latter.

In accordance with some embodiments, therefore, the movement devices <NUM> are configured magnetically mobile without contact on the reference surface <NUM> to transport one or more containers <NUM> from and toward one or more of the work stations <NUM> and to move the containers <NUM> resting along the respective weighing plate <NUM> of the weighing device <NUM>.

In these embodiments, electrical energizing means are associated with the reference surface <NUM>, of a known type and not shown in detail, which are configured to selectively generate one or more magnetic fields, even locally distributed, in determinate zones of the same reference surface <NUM>. For example, the electrical energizing means comprise a plurality of coils, not shown in the drawings, suitably disposed in correspondence with the reference surface <NUM>.

In accordance with some embodiments, the support members <NUM> of the movement devices <NUM> with contactless movement described here can comprise magnetic drive "planar motors", which are known in the state of the art.

In some embodiments, each of these support members <NUM> is provided with magnetic means, such as for example permanent magnets, of a known type and not shown in detail in the drawings. The magnetic means are configured to interact with one or more of the magnetic fields generated by the electrical energizing means associated with the reference surface <NUM>, so that each of the support members <NUM> can move independently on the reference surface <NUM> and slightly distanced with respect thereto, therefore without contact, along the machine <NUM>, for example from and toward one or more work stations <NUM>, or in different positions within a same work station <NUM>. In other words, thanks to the magnetic group comprised in the movement device <NUM>, the latter is driven in motion thanks to the magnetic interaction with the magnetic field generated by a stator provided in the reference surface <NUM>, on which the movement device <NUM> is mobile.

The support members <NUM> are disposed on the reference surface <NUM> and configured to be moved and/or rotated, as well as independently and without contact, also with no constraint in path or direction, advantageously in several degrees of freedom, in this specific case being able be moved and/or rotated potentially in six degrees of freedom.

These six degrees of freedom can be along three directions of a set of three orthogonal reference directions, similarly to a set of three Cartesian axes, and angularly around each of the directions of the set of three. Therefore, these support members <NUM> can be moved or rotated in at least two or more degrees of freedom, for example even three, four, five or six degrees of freedom, also providing combined movements in more of such degrees of freedom, according to requirements. Therefore, the movement devices <NUM> provided with such support members <NUM> are able to move without contact in accordance with the degrees of freedom described above.

In accordance with some embodiments, the selective energizing of the electrical energizing means is controlled by control means which can comprise a central processing unit <NUM> (<FIG>), such as for example a microcontroller, an industrial PC or a PLC (Programmable Logic Controller), also of a known type and programmable on the basis of the state of the art with reference to so-called planar motors, which have been studied and developed for over twenty years. In particular, the central processing unit <NUM> selectively controls in a programmed manner the electric current and/or voltage values to be supplied to the electrical energizing means, so that these can determine both the support of each support member <NUM> in a determinate position of the reference surface <NUM>, and also the selective movement of each support member <NUM> along the machine <NUM>, for example from one point to another of the same reference surface <NUM>, both from and toward one or the other of the work stations <NUM>.

In accordance with some embodiments, shown in <FIG>, the reference surface <NUM> is vertical and each movement device <NUM> is provided with a respective gripping member <NUM> the support arm <NUM> of which protrudes cantilevered from the respective support member <NUM> to which it is attached, for example, by means of mechanical attachment means of a known type and not shown. In the example of <FIG>, the support arm <NUM> is provided with a single holding seating <NUM> to support the container <NUM>.

In particular, in the example of <FIG>, the support arm <NUM> is, on the other hand, provided with two identical holding seatings <NUM>, aligned in a direction substantially orthogonal to the reference surface <NUM>, so that one of them is closer to the holding surface <NUM> and the other is more distanced from the reference surface <NUM>. In the embodiment shown in <FIG>, the weighing device <NUM> comprises two weighing plates <NUM> distanced from the reference surface <NUM>, so as to correspond vertically to a respective container <NUM> disposed in one of the two holding seatings <NUM> provided according to the configuration as defined above. Each weighing plate <NUM> is supported at the lower part by its own support mean <NUM> which is in turn anchored to a respective measuring mean <NUM>.

In accordance with some embodiments, shown in <FIG>, the weighing device <NUM> can be disposed cantilevered and associated with a support surface opposite the reference surface <NUM>. In this case, the weighing device <NUM> is positioned in correspondence with a perimeter edge between the reference surface <NUM> and the opposite support surface. In the example described here, the support arm <NUM> is protruding cantilevered from the respective support member <NUM> so as to be projecting from the reference surface <NUM> toward the opposite support surface, positioning itself astride said perimeter edge.

In accordance with the embodiment shown in <FIG>, a pair of movement devices <NUM> can also be provided, each of which is equipped with a support arm <NUM> provided with a pair of holding half-seatings which, when adjacent and aligned with each other, define a pair of holding seatings <NUM> as described above. In this case, the support arms <NUM> are connected to the support member <NUM> in a decentralized position, preferably in correspondence with a perimeter edge of the support member <NUM>, so as to cooperate more easily with the support arm <NUM> of the adjacent movement device <NUM>. This conformation of the support arms <NUM> is advantageous because it allows to grasp and release the containers <NUM> possibly without the aid of further gripping means.

In accordance with some embodiments, shown in <FIG>, the reference surface <NUM> is horizontal and each movement device <NUM> is provided with a respective gripping member <NUM> the support arm <NUM> of which protrudes cantilevered with respect to a perimeter edge of said reference surface <NUM> in correspondence with which there is positioned a weighing device <NUM>.

In particular, in the example of <FIG>, the support arm <NUM> is provided with a single holding seating <NUM> to support the container <NUM>.

In the example of <FIG>, the support arm <NUM> is provided with two identical holding seatings <NUM>, adjacent with respect to the perimeter edge of the reference surface <NUM> as above, so that one of these is closer to the holding surface <NUM> and the other is more distanced from the reference surface <NUM>. In the embodiment shown in <FIG>, the weighing device <NUM> comprises two weighing plates <NUM> distanced from the reference surface <NUM> so as to correspond to a respective container <NUM> disposed in one of the two holding seatings <NUM> disposed according to the configuration as defined above.

In accordance with the embodiment shown in <FIG>, a pair of movement devices <NUM> is provided, each of which is equipped with a support arm <NUM> provided with a pair of holding half-seatings which, when adjacent and aligned with each other, define a pair of respective holding seatings <NUM> as described above. In this case, the support arms <NUM> are connected to the support member <NUM> in correspondence with a perimeter edge of the support member <NUM> so as to cooperate more easily with the support arm <NUM> of the adjacent movement device <NUM>.

Embodiments described here also concern a method to weigh containers <NUM> in a machine <NUM> to fill and weigh containers <NUM>. The method provides that one or more containers <NUM> are moved, by means of a respective movement device <NUM>, between at least two work stations <NUM> disposed in the work direction F which defines the movement path between the two work stations <NUM>, at least one of which is suitable for filling the containers <NUM>.

In accordance with one aspect of the present invention, the method comprises weighing, by means of the weighing device <NUM> disposed along the movement path, one or more of the containers <NUM> as they advance in the work direction F. The weighing of the one or more containers <NUM> is carried out while the one or more containers <NUM> are made to advance without interruption on the weighing plate <NUM> of the weighing device <NUM>. While they slide on the weighing plate <NUM> in the work direction F, the one or more containers <NUM> are held in a drawing position by the respective gripping members <NUM> of the at least one movement device <NUM>.

In accordance with some embodiments, shown in <FIG>, <FIG> and <FIG>, the method provides that, during the weighing, the container <NUM> is lifted from the weighing plate <NUM> from a first height H1, defining a first distance between said base end <NUM> and a holding plane P of the gripping member <NUM> to a second heigh H2, smaller than the first heigh H1, defining a second distance, also defined weighing distance, between the base end <NUM> and the holding plane P.

In accordance with some embodiments, it is provided to carry out in sequence a plurality of detections of the mass of the one or more containers <NUM>, such detections being processed by a processor in order to determine the weight of the one or more containers <NUM>, as described above.

Claim 1:
Machine to fill and weigh containers (<NUM>), said machine comprising at least one movement device (<NUM>) configured to transport one or more containers (<NUM>) between at least two work stations (<NUM>) disposed in a work direction (F) which defines a movement path between said at least two work stations (<NUM>), at least one of said work stations (<NUM>) being suitable to fill the containers (<NUM>), and at least one weighing device (<NUM>) comprising a weighing plate (<NUM>) disposed along said movement path and configured to acquire the measurement of a mass during a weighing step, said at least one movement device (<NUM>) comprising at least one gripping member (<NUM>) configured to support and hold said one or more containers (<NUM>) along said movement path, characterized in that said movement device (<NUM>) is configured to be moved without interruption in said work direction (F) while said one or more containers (<NUM>) are weighed, supported by said gripping member (<NUM>), on said weighing plate (<NUM>), said gripping member (<NUM>) disposing itself at a weighing distance with respect to said weighing plate (<NUM>) such as to allow, during the weighing, a release of said one or more containers (<NUM>) with respect to said at least one gripping member (<NUM>) in a release direction (X) substantially perpendicular to a support plane (L) of said weighing plate (<NUM>), said gripping member (<NUM>) being configured to apply a thrust against said one or more containers (<NUM>) in the work direction (F) during the weighing of said one or more containers (<NUM>) obtained while said movement device (<NUM>) moves without interruption on the weighing plate (<NUM>).