CN111301978A

CN111301978A - Automatic charging system

Info

Publication number: CN111301978A
Application number: CN202010248741.7A
Authority: CN
Inventors: 李业富; 牟学璐; 许维凯; 吴秀杰; 刘建旺
Original assignee: Shinva Medical Instrument Co Ltd
Current assignee: Shinva Medical Instrument Co Ltd
Priority date: 2020-03-31
Filing date: 2020-03-31
Publication date: 2020-06-19

Abstract

The invention discloses an automatic charging system, which comprises an empty car conveyor, a full car conveyor and a charging machine for discharging materials to a first conveying device, wherein the empty car conveyor is arranged on the first conveying device; the conveyor comprises a first conveying device for conveying the sterilization tray and a second conveying device for conveying the bottom support; the top of the empty vehicle conveyor is an empty vehicle transmission mechanism, the top of the full vehicle conveyor is a full vehicle transmission mechanism, and the top conveying surfaces of the empty vehicle transmission mechanism, the full vehicle transmission mechanism and the second transmission device are in a coplanar state. Carry sterilization tray and collet respectively by first transmission device and second transmission device, what convey on first transmission device all is the sterilization tray, the loader still can adopt current procedure to control, to being transported to the sterilization tray of the station of feeding materials, can not be carried out the operation of feeding materials by the loader on the collet, but can be directly through empty wagon conveyer, second transmission device reach full wagon conveyer on, can conveniently realize the operation of feeding materials of collet formula sterilization car.

Description

Automatic charging system

Technical Field

The invention relates to the technical field of pharmaceutical equipment, in particular to an automatic charging system.

Background

The automatic loading system of the sterilization vehicle has been used in the pharmaceutical industry for many years, a single-layer sterilization tray is conveyed to a tray loading station by a single-tray conveying device, the tray loading device automatically loads materials, and then the subsequent processes are manually operated.

The utility model provides a sterilization car is collet formula sterilization car, collet formula sterilization car comprises collet and the sterilization dish that stacks above that, and there is the difference in collet and sterilization dish intensity, and collet intensity is high, can bear the pressure of whole car sterilization dish, and the sterilization car can not appear warping, and sterilization dish simple structure can practice thrift sterilization dish manufacturing cost greatly, and in addition, the collet has the antifriction nature.

However, the same sterilization dish can only be transmitted to current sterilization car automatic charging system usually, if the collet also transmits at this sterilization car automatic charging system, when the collet is conveyed to the sabot station, because the sabot device can not distinguish sterilization dish and collet, the sabot device also can carry out the automatic sabot of material towards the collet, so be not suitable for the feeding of collet formula sterilization car, bring inconvenience for the feeding of collet formula sterilization car.

Therefore, how to facilitate the loading of the bottom-supported sterilization vehicle is a technical problem to be solved by the technical personnel in the field at present.

Disclosure of Invention

In view of the above, the present invention provides an automatic charging system, which is capable of facilitating the charging operation of a bottom-mounted sterilization vehicle.

In order to achieve the purpose, the invention provides the following technical scheme:

an automatic charging system comprises an empty car conveyor, a full car conveyor and a charging machine for discharging materials to the first conveying device; the conveyor comprises a first conveying device for conveying a first conveying piece and a second conveying device for conveying a second conveying piece; the top of the empty vehicle conveyor is an empty vehicle transmission mechanism, the top of the full vehicle conveyor is a full vehicle transmission mechanism, and the top conveying surfaces of the empty vehicle transmission mechanism, the full vehicle transmission mechanism and the second transmission device are in a coplanar state.

Preferably, the disc stacking machine also comprises a disc disassembling machine and a disc stacking machine; the disc disassembling machine is provided with a disc disassembling and picking mechanism used for taking the first transmission piece on the empty car conveyor to the first transmission device, and the disc stacking machine is provided with a disc stacking and picking mechanism used for taking the first transmission piece on the first transmission device to the full car conveyor.

Preferably, the tray disassembling machine is arranged on one side of the conveyor and is close to the empty conveyor, and the tray stacking machine is arranged on one side of the conveyor and is close to the full conveyor.

Preferably, the disk splitting and picking mechanism and the disk stacking and picking mechanism are clamps.

Preferably, the first conveying device is arranged on the upper layer of the second conveying device, and the charging machine and the material conveyor for conveying the materials to the charging machine are arranged on the upper layer of the first conveying device.

Preferably, the empty conveyor is fixed to an input side of the conveyor and the full conveyor is fixed to an output side of the conveyor.

Preferably, the loading machine, the tray detaching machine, the tray stacking machine, the empty car conveyor, the full car conveyor and the transmission machine are electrically connected to a control device; the control device comprises a counting device used for counting the conveyed first conveying pieces, and the control device is used for controlling the second conveying device, the empty vehicle conveying mechanism and the full vehicle conveying mechanism to be started when the counting of the counting device reaches a set value.

Preferably, the bottom of the loader is provided with a suction cup type clamp.

Preferably, the empty vehicle conveying mechanism, the full vehicle conveying mechanism and the second conveying device are drum-type conveying mechanisms or chain-type conveying mechanisms.

Preferably, the first transmission device is provided with a positioning support seat for positioning the first transmission piece.

The invention provides an automatic charging system which comprises an empty car conveyor, a full car conveyor and a charging machine for discharging materials to a first conveying device, wherein the empty car conveyor is arranged on the first conveying device; the conveyor comprises a first conveying device for conveying the first conveying piece and a second conveying device for conveying the second conveying piece; the top of the empty vehicle conveyor is an empty vehicle transmission mechanism, the top of the full vehicle conveyor is a full vehicle transmission mechanism, and the top conveying surfaces of the empty vehicle transmission mechanism, the full vehicle transmission mechanism and the second transmission device are in a coplanar state.

When being applied to collet formula sterilization car and feeding, first transmission piece is the sterilization dish, and the second transmission piece is the collet. Carry sterilization tray and collet respectively by first transmission device and second transmission device, what convey on first transmission device all is the sterilization tray, the loader still can adopt current procedure to control, to being transported to the sterilization tray of the station of feeding materials, can not be carried out the operation of feeding materials by the loader on the collet, but can be directly through empty wagon conveyer, second transmission device reach full wagon conveyer on, can conveniently realize the operation of feeding materials of collet formula sterilization car.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a front view of an automatic charging system in an embodiment of the present invention;

FIG. 2 is a side view of an automatic loading system in an embodiment of the present invention;

FIG. 3 is a top view of an automatic loading system in an embodiment of the present invention.

Reference numerals:

the automatic tray-removing machine comprises an empty car conveyor 1, a conveyor 2, a first conveyor 21, a second conveyor 22, a servo motor 23, a speed reducing motor 24, a transmission chain 25, a positioning support seat 26, a transmission shaft 27, a roller 28, a loader 3, a loader frame 31, a loader robot 32, a suction disc type clamp 33, a full car conveyor 4, a tray-removing machine 5, a tray-removing robot 51, a tray-removing clamp 52, a tray-removing clamp main body 53, a tray-removing telescopic cylinder 54, a tray-removing clamp plate 55, a tray-stacking machine 6, a tray-stacking robot 61, a material conveyor 7, a tray 8 and a sterilizing tray 9.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide an automatic charging system which can facilitate the charging operation of the bottom-support type sterilization vehicle.

It will be understood that when an element is referred to as being "secured" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

One embodiment of the automatic charging system provided by the present invention comprises an empty car conveyor 1, a conveyor 2, a full car conveyor 4 and a charger 3 for discharging to a first conveyor 21. The conveyor 2 comprises a first conveyor 21 for conveying a first transport element and a second conveyor 22 for conveying a second transport element. In the embodiment, the application to the bottom-tray type sterilization vehicle is taken as an example for explanation, accordingly, the first transmission member is the sterilization tray 9, the second transmission member is the bottom tray 8, and at this time, the transmission machine 2 is a tray transmission machine. Of course, the use of the automatic loading system is not limited to the bottom-mounted sterilization vehicle, but can also be used for transporting other devices for transporting objects with two transport requirements.

The top of the empty conveyor 1 is an empty conveying mechanism, the top of the full conveyor 4 is a full conveying mechanism, and the top conveying surfaces of the empty conveying mechanism, the full conveying mechanism and the second conveying device 22 are in a coplanar state. The top conveying surfaces of the empty vehicle conveying mechanism, the full vehicle conveying mechanism and the second conveying device 22 have a coplanar state, which may be that the top conveying surfaces of the empty vehicle conveying mechanism, the full vehicle conveying mechanism and the second conveying device 22 are always in a coplanar state, or the top conveying surfaces of the empty vehicle conveying mechanism, the full vehicle conveying mechanism and the second conveying device 22 may be adjusted to be in a coplanar state.

A collet type sterilization vehicle with a sterilization plate 9 being empty is placed on the empty vehicle conveyor 1, and a collet 8 is arranged on the full vehicle conveyor 4 in advance. A layer of sterilization trays 9 are taken from the top layer of the empty wagon conveyor 1 and transported on the first transport device 21 to the loading station, the loader 3 is loaded, and then the loaded sterilization trays 9 are transported by the first transport device 21 to the full wagon conveyor 4. Each layer sterilization tray 9 on a collet formula sterilization car is loaded and the successive layer stacks to full car conveyer 4 on the back by the successive layer, accomplishes the feeding of a collet formula sterilization car, gets collet 8 on full car conveyer 4 and the sterilization tray 9 that bears on it, and the collet that is used for bearing these sterilization trays on the collet on full car conveyer 4 and the empty car conveyer 1 before feeding this moment is not same. For the rest bottom supports 8 on the empty vehicle conveyor 1, the empty vehicle conveyor 1 and the full vehicle conveyor 4 are respectively positioned at the head end and the tail end of the second transmission device 22 in the transmission direction, the top transmission surfaces of the empty vehicle transmission mechanism and the full vehicle transmission mechanism and the second transmission device 22 are in a coplanar state, the empty vehicle conveyor 1, the second transmission device 22 and the full vehicle conveyor 4 are started and transmit in the same direction, the empty vehicle conveyor 1 automatically transmits the upper bottom support 8 thereof to the second transmission device 22 and then transmits the upper bottom support 8 to the full vehicle conveyor 4 for waiting for loading the sterilization tray 9 on the next bottom support type sterilization vehicle, namely, the bottom support 8 on the current full vehicle conveyor 4 is the bottom support 8 in the bottom support type sterilization vehicle on the previous empty vehicle conveyor 1.

In this embodiment, carry sterilization tray 9 and collet 8 respectively by first transmission device 21 and second transmission device 22, what convey all is sterilization tray 9 on first transmission device 21, loader 3 still can adopt current program to control, to being transported to the sterilization tray 9 of the station of feeding to feed, can not be carried out the operation of feeding by loader 3 on collet 8, but can directly pass to full car conveyer 4 through empty wagon conveyer 1, second transmission device 22 on, can conveniently realize the operation of feeding of collet formula sterilization car.

Further, the automatic charging system further comprises a tray detaching machine 5 and a tray stacking machine 6. Specifically, the tray detaching machine 5 is arranged on one side of the conveyor 2 and is close to the empty conveyor 1, and the tray stacking machine 6 is arranged on one side of the conveyor 2 and is close to the full conveyor 4. The disc separating machine 5 and the disc stacking machine 6 can be specifically the same equipment. The tray disassembling machine 5 is provided with a tray disassembling and picking mechanism for taking the sterilization tray 9 on the empty vehicle conveyor 1 to the first conveying device 21, and the tray stacking machine 6 is provided with a tray stacking and picking mechanism for taking the sterilization tray 9 on the first conveying device 21 to the full vehicle conveyor 4. The grabbing operation of the tray disassembling machine 5 and the tray stacking machine 6 is used for conveying the sterilization trays 9 among the empty conveyor 1, the first conveying device 21 and the full conveyor 4, the empty conveyor 1 and the full conveyor 4 can be kept in a stopping state in the conveying process, and the risk of falling collision caused by the fact that the sterilization trays 9 move along with the empty conveyor 1 or the full conveyor 4 is avoided.

Further, the disc disassembling and picking mechanism and the disc stacking and picking mechanism are clamps. In the disk dismounting machine 5, the clamp is a disk dismounting clamp 52; in the disc stacking machine 6, the clamp is a disc stacking clamp. The stable transfer of the sterilization tray 9 is realized by the clamping of the clamp. Specifically, referring to fig. 1 and 3, the tray detaching machine 5 includes a tray detaching robot 51 and a tray detaching jig 52 connected to an output end of the tray detaching robot 51, and the tray detaching jig 52 includes a tray detaching jig main body 53 connected to the output end of the tray detaching robot 51, a tray detaching telescopic cylinder 54 connected to the tray detaching jig main body 53, and a tray detaching jig plate 55 connected to an output end of the tray detaching telescopic cylinder 54. The disc stacking machine 6 comprises a disc stacking robot 61 and a disc stacking clamp connected to the output end of the disc stacking robot 61, wherein the disc stacking clamp comprises a disc stacking clamp body connected to the output end of the disc stacking robot 61, a disc stacking telescopic cylinder connected to the disc stacking clamp body and a disc stacking clamp plate connected to the output end of the disc stacking telescopic cylinder.

Further, referring to fig. 1, the first transfer device 21 is disposed on the upper layer of the second transfer device 22, and the loader 3 and the material conveyor 7 are disposed on the upper layer of the first transfer device 21. The material conveyor 7 is used for conveying the material to the charger 3, and the material conveyor 7 is a belt conveyor, and is disposed between the conveyor 2 and the charger 3 in the height direction. The layering setting of conveyer 2 is favorable to practicing thrift equipment occupation space, in addition, sets up first transmission device 21 in the upper strata of second transmission device 22, makes things convenient for charging machine 3 to have sufficient space to carry out the operation of feeding, avoids second transmission device 22 to block the operation of feeding. Specifically, the first transmission device 21 includes a servo motor 23 and a transmission chain 25 connected to an output end of the servo motor 23, and transmits through the transmission chain 25; the second transmission device 22 comprises a speed reduction motor 24, a transmission shaft 27 and a roller, the second transmission device 22 forms a roller type conveying mechanism, and the conveyor 2 forms a double-layer continuous stepping conveyor. In addition, empty wagon transmission device, full car transmission device also can be drum-type conveying mechanism, and collet 8 has antifriction nature, and in the whole car transportation of collet formula sterilization car, collet 8 and conveyor cylinder contact are carried whole car by the conveyor cylinder and are transported. Alternatively, the empty car conveying mechanism, the full car conveying mechanism and the second conveying device 22 are chain conveying mechanisms.

Further, the empty conveyor 1 is fixed to an input side of the conveyor 2, and the full conveyor 4 is fixed to an output side of the conveyor 2. Of course, in other embodiments, the full car conveyor 4 and the empty car conveyor 1 may be provided with rollers at their bottoms, and both can move to adjust the placement position.

Further, the charging machine 3, the tray detaching machine 5, the tray stacking machine 6, the empty wagon conveyor 1, the full wagon conveyor 4 and the conveyor 2 are electrically connected to the control device. The control device comprises a counting device for counting the conveyed sterilization trays 9, and the control device is used for controlling the second conveying device 22, the empty vehicle conveying mechanism and the full vehicle conveying mechanism to be started when the counting of the counting device reaches a set value. The counting device can count the action times of the tray dismounting machine 5 or the loading machine 3 so as to judge the number of the sterilization trays 9. The control device can realize the automatic control of the whole charging process. Wherein, through counting assembly and controlling means's cooperation, can carry out automated control to second transmission device 22, the start of empty wagon transmission mechanism and full wagon transmission mechanism, for example, the setting value is 22, is provided with 22 sterilization tray 9 on the collet formula sterilization car, begins the count from collet formula sterilization car upper strata sterilization tray 9, after 22 sterilization tray 9 of transmission have been counted to the counting assembly, controlling means control second transmission device 22, empty wagon transmission mechanism and full wagon transmission mechanism start to transmit collet 8. Alternatively, in another embodiment, the counting device may be replaced with a gravity sensor provided in the empty conveyer 1, and whether only the pallet remains on the empty conveyer 1 and the sterilization tray is not present may be determined by weight detection.

Further, the bottom of the charging machine 3 is provided with a sucker type clamp 33, and damage to materials in the process of taking and placing the materials can be reduced by utilizing vacuum adsorption. Specifically, the loader 3 includes a loader frame 31 and a loading robot 32 attached to the loader frame 31, and the suction clip 33 is attached to an output end of the loading robot 32.

Furthermore, the first conveying device 21 is provided with a positioning support 26 for positioning the sterilization tray 9, so that the sterilization tray 9 can be smoothly conveyed on the first conveying device 21.

The automatic charging system theory of operation that this embodiment provided is as follows, and the material is infusion bag:

before empty wagon conveyer 1 carried the collet formula sterilization car of empty wagon to conveyer 2, tear a set of machine 5 work open, tear a set telescopic cylinder 54 drive of tearing open of installation on a set anchor clamps main part 53 and tear a set anchor clamps board 55 open, tear a set anchor clamps 52 and push down, tear a set anchor clamps main part 53 and top layer sterilization dish 9 contact, tear a set telescopic cylinder 54 drive of tearing open and tear a set anchor clamps board 55 and tighten up, tear a set machine 5 and tear sterilization dish 9 into the individual layer and shift to first transmission 21 top, tear a set anchor clamps 52 of tearing open in a set robot 51 drive and push down, place sterilization dish 9 on location supporting seat 26.

The empty sterilization tray 9 is moved to a loading station by the first conveying device 21, the loading robot 32 of the loading machine 3 drives the suction cup type clamp 33 to grab the infusion bag from the material conveyor 7, and the infusion bag is placed in the empty sterilization tray 9 of the loading station, so that loading of the empty sterilization tray is realized.

The sterilization tray 9 filled in the loading station is conveyed to the tray stacking position along with the first conveying device 21, the tray stacking robot 61 of the tray stacking machine 6 drives the tray stacking clamp to press downwards, the tray stacking clamp body is in contact with the sterilization tray 9 waiting for tray stacking, the tray stacking telescopic cylinder drives the tray stacking clamp plate to tighten up, the sterilization tray 9 filled in is grabbed and stacked above the full-vehicle conveyor 4, the sterilization tray 9 descends to be in contact with the bottom support 8 stored above the full-vehicle conveyor 4, the tray stacking telescopic cylinder drives the tray stacking clamp plate to stretch out, the sterilization tray 9 is stacked above the bottom support 8, and the sterilization tray is conveyed out by the full-vehicle conveyor 4 after the full-vehicle conveyor 4 is stacked.

Under the coordination of the tray detaching machine 5, the loading machine 3, the tray stacking machine 6 and the first conveying device 21, tray placing of the tray detaching machine 5, loading of the loading machine 3 and tray grabbing of the tray stacking machine 6 are achieved simultaneously, and after a tray is filled, the sterilizing tray 9 is driven by the first conveying device 21 to step by one step, so that continuous loading is achieved.

When only the bottom support 8 remains after tray removal of the empty trolley conveyor 1, the remaining single-layer bottom support 8 is conveyed to the front end of the second conveying device 22 by the empty trolley conveyor 1, and then conveyed to the empty full trolley conveyor 4 at the tray stacking position under the driving of the second conveying device 22, and the tray stacking is waited at the empty full trolley conveyor 4, so that automatic loading of the bottom support type sterilization trolley is realized.

Automatic charging system in this embodiment, 2 upper strata step-by-step transport of conveyer realize sterilization dish 9 continuous step-by-step transport, can guarantee to tear the dish open and put the dish, feed, fold the dish and grab the dish and go on in succession, guarantee the continuity of production, and 2 lower floor's cylinders of conveyer carry collet 8, realize collet 8 and sterilization dish 9's layering transmission, can satisfy the automatic feeding demand of collet formula sterilization car.

Of course, in other embodiments, the empty car conveyor 1 may also be configured to include an empty car conveying mechanism and an empty car lifting mechanism disposed below the empty car conveying mechanism, and the full car conveyor 4 may also be configured to include a full car conveying mechanism and a full car lifting mechanism disposed below the full car conveying mechanism, so that the sterile trays can be conveniently picked up between the devices by making the heights of the top sterilization trays 9 of the empty car conveyor 1 and the full car conveyor 4 substantially the same as the heights of the first conveying devices 21.

Of course, in other embodiments, the transfer of the sterilization tray 9 between the empty conveyor 1 and the first transfer device 21, and the transfer of the sterilization tray 9 between the first transfer device 21 and the full conveyor 4 may be performed by one and the same pick-up mechanism.

Of course, in other embodiments, the disk detaching machine 5 and the disk stacking machine 6 can be replaced by a servo motor and an electric cylinder which are connected and have vertical output motion directions, so that the disk detaching and stacking actions are realized.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The automatic charging system provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. An automatic charging system is characterized by comprising an empty car conveyor (1), a conveyor (2), a full car conveyor (4) and a charging machine (3) for discharging to the first conveying device (21); the conveyor (2) comprises a first conveying device (21) for conveying a first conveying element and a second conveying device (22) for conveying a second conveying element; the top of empty wagon conveyer (1) is empty wagon transmission device, the top of full wagon conveyer (4) is full wagon transmission device, empty wagon transmission device full wagon transmission device with the top transfer plane of second transmission device (22) has the coplanar state.

2. Automatic charging system according to claim 1, characterized in that it further comprises a tray remover (5) and a tray stacker (6); the tray disassembling machine (5) is provided with a tray disassembling and picking mechanism used for taking the first transmission piece on the empty vehicle conveyor (1) to the first transmission device (21), and the tray stacking machine (6) is provided with a tray stacking and picking mechanism used for taking the first transmission piece on the first transmission device (21) to the full vehicle conveyor (4).

3. Automatic charging system according to claim 2, characterized in that said destacking conveyor (5) is arranged on one side of said conveyor (2) and close to said empty conveyor (1), and in that said destacking conveyor (6) is arranged on one side of said conveyor (2) and close to said full conveyor (4).

4. The automated loading system of claim 2, wherein said disk-stripping and disk-stacking pick-up mechanisms are grippers.

5. The automatic charging system according to claim 2, characterised in that the first transfer device (21) is arranged on top of the second transfer device (22), and that the charger (3) and the material conveyor (7) for conveying material to the charger (3) are arranged on top of the first transfer device (21).

6. Automatic charging system according to claim 5, characterized in that the empty conveyor (1) is fixed to the input side of the conveyor (2) and the full conveyor (4) is fixed to the output side of the conveyor (2).

7. The automatic charging system according to any one of claims 2 to 6, characterized in that said charging machine (3), said de-palletizing machine (5), said palletizing machine (6), said empty conveyor (1), said full conveyor (4) and said conveyor (2) are electrically connected to control means; the control device comprises a counting device used for counting the conveyed first conveying pieces, and the control device is used for controlling the second conveying device (22), the empty vehicle conveying mechanism and the full vehicle conveying mechanism to be started when the counting of the counting device reaches a set value.

8. Automatic loading system according to any one of claims 1 to 6, characterized in that the bottom of said loader (3) is provided with suction grippers (33).

9. Automatic charging system according to any one of claims 1 to 6, characterized in that said empty, full and second transfer devices (22) are drum-type or chain-type transfer mechanisms.

10. Automatic charging system according to any one of claims 1 to 6, characterised in that said first transfer device (21) is provided with a positioning support (26) for positioning the first transfer member.