EP3342719A1 - Device and method for filling nested containers - Google Patents

Abstract

The present invention relates to a filling device (10) for filling nested containers (14), which are arranged in at least one row in a nest (12) and can be conveyed by means of a conveyor (16), with a filling station (26) for simultaneously filling the Container (14) of a row, with at least one weighing station (28) for weighing a row of the containers (14), with a first gripping device (18) for simultaneously removing a row of containers (14) to be filled and for transferring these containers (14) to a first weighing station (28a) of the at least one weighing station (28) and for transferring the weighed containers (14) from the at least one weighing station (28) back to the nest (12) or another nest (12 '). The filling device (10) also has a second gripping device (20) for the simultaneous removal of a row of filled and weighed containers (14) and for the transfer of these containers (14) to the first weighing station (28a) or to a second weighing station ( 28b) of the at least one weighing station (28) and for transferring the row of filled and double weighed containers (14) from the at least one weighing station (28) back into the nest (12) or another nest (12 ', 12 ").

Description

The present invention relates to a device for filling nested containers, wherein the containers are arranged in at least one row in a nest and are conveyed by a conveyor, with a filling station for simultaneously filling the container of a row, with at least one weighing station for weighing a number of Container, with a first gripping device for simultaneously removing a row to be filled containers and for transferring these containers to a first weighing station of the at least one weighing station and for transferring the weighed container from the at least one weighing station back into the nest from which the first Gripper has taken the row to be filled containers, or back into a subsequent nest.

In the present case, containers are preferably to be understood as meaning pharmaceutical or cosmetic objects such as syringes, vials, cylindrical ampoules, etc.

Preferably, the conveyor defines a transport direction, wherein in the present case "before" or "behind" or "after" are to be understood in relation to this transport direction.

Such a device for filling is preferably arranged within a production line, wherein in one or more preceding steps, the containers are prepared for filling, so for example unpacked and arranged in nests and / or sterilized and / or heated or cooled to the in the container filling product should not be affected. Preferably, the device for filling in the transport direction is followed by a device for closing the filled containers. Subsequently, the containers can be isolated or packaged in groups preferably sterile for further transport to a final customer.

Such a device is for example from the document DE 103 45 338 B4 known, wherein a transport system transports the nested containers intermittently, wherein a gripping device removes a number of containers to be filled from a nest and transfers to a weighing station, wherein the gripping device transfers the weighed container after weighing a filling station, this series is then filled. The gripper passes this row after filling a second time the same weighing station, wherein the row of filled containers weighed again and thereby their net content is determined, and wherein the filled row is returned to the nest and is discharged when filling the nest to a to avoid double stuffing.

Especially in the case of pharmaceutical products it is of relevance to know the exact filling level of the containers since a container which is not filled correctly can result in either under- or overdosing of a product contained in the container. On the one hand, this can lead to considerable damage to health and, on the other hand, especially in the case of an underdose, can lead to a loss of effectiveness the product is significantly restricted. In the case of cosmetic products too, high accuracy of the level of the containers is important in order to sell the right quantity of expensive cosmetic products.

Therefore, it is of particular interest to control the level or the correct operation of a filling device and readjust if necessary.

It is known to weigh a portion of the container before and after the filling process and to determine therefrom the net content of the individual containers.

It is particularly preferred in this case if this control can be carried out during the current filling process. It is in the prior art by said measurement often delays in the filling process, since the determination of the net content of the container requires a certain amount of time.

According to the teaching of the above document, the filling operation must be at least partially interrupted in order to remove the series of containers, to weigh them, to feed them to the filling station, to weigh them again and to reset them in the nest.

In addition, it is possible according to the above teaching to weigh only a certain part of the nested container.

Furthermore, the filling process of the checked container differs from the filling of the other containers. Therefore, no real check of the filling process as it is carried out in normal operation is possible. A faulty alignment of the filling station with a row of a nest to be filled leads in the worst case to an inadvertent pouring of the product. Such an error can not be detected with the above-mentioned method.

From the DE 10 2004 035 061 A1 a device for the metered filling of groups in receptacles of a carrier plate located vessels is disclosed which has a weighing device for checking the dosing results of a metering device, wherein the weighing device comprises a lifting mechanism for lifting at least one of the jars from a seat of the carrier plate, the weighing device having a lifting mechanism so that the individual jars need only be lifted out of the nest to be weighed.

In this case, the same weighing device is used before and after filling the individual vessels, so that a nest must be within reach of the weighing device before filling and after filling. In addition, the transport device must be stopped when weighing the container and the weighing device briefly be at a standstill. A check weighing is therefore always accompanied by a delay in the filling station.

From the document EP 2 570 350 A1 For example, a method for filling and sealing pharmaceutical objects arranged in parallel rows in nests is known. The objects are taken from the nests at an input of a conveyor in a removal station and introduced into the conveyor, by means of the conveyor, the objects along a straight portion of the transport path are successively fed to a first weighing station, a filling station, and a second weighing station.

Here, the objects are not filled in the nests, but must also be removed for filling, which leads to longer processing times.

In the document DE 10 2012 208 060 A1 a filling machine is proposed for filling containers with a liquid. The filling machine comprises: a handling device, a weighing device, a first filling device and a second filling device, wherein the first filling device is set up to fill containers arranged on the weighing device. Furthermore, the second filling device is set up to fill containers arranged in a nest. The included handling device is arranged to bring individual containers and / or rows of containers from the nest to the weighing device. In addition, the handling device can remove the containers from the weighing device and reset them in the nest.

In this case, the containers are filled during weighing, which has a complicated control of the filling and long processing times result.

From the DE 10 2014 214 693 A1 a device for weighing a container is known, with at least one weighing device for weighing at least one container, at least one container receptacle for transporting the container relative to the weighing device, wherein at least one drive surface and at least one mover on the drive surface can be coupled, wherein the mover on the Drive surface is displaceable and / or rotatably arranged in at least two degrees of freedom and the container receptacle is arranged on the mover.

In this case, a mover is provided for transporting the containers, whereby the filling system is complicated in construction and control and costly

It is therefore an object of the present invention to provide an improved device and an improved method for filling nested containers, which in particular allow in-process control of the filling level of the container.

Therefore, there is provided a device for filling nested containers, wherein the packages are arranged in at least one row in a nest and are conveyable by means of a conveyor, with a filling station for simultaneously filling the containers of a row, with at least one weighing station for weighing a row of the containers with a first gripping device for simultaneously removing a row of containers to be filled and for transferring these containers to a first weighing station of the at least one weighing station and for transferring the weighed containers from the at least one weighing station back into the nest back into the nest, from which the first Gripping device has taken the row to be filled container, or back into a subsequent nest, with a second gripping device for simultaneously removing a series of filled and weighed containers and for transferring this series of containers to the first weighing station or to a second weighing station d he at least one weighing station and for transferring the series of filled and twice weighed container from the at least one weighing station back into the nest from which the second gripping device removed the row of filled containers, or back into a subsequent nest.

• Entnehmen einer Reihe von zu befüllenden Gebinden aus einem Nest mittels einer ersten Greifeinrichtung,
• Wiegen der einzelnen Gebinde in leerem Zustand,
• Zurücksetzen der leeren Gebinde in das Nest, aus dem die erste Greifeinrichtung die Reihe zu befüllender Gebinde entnommen hat, oder in ein darauffolgendes Nest,
• vorzugsweise gleichzeitiges Befüllen der gewogenen Gebinde,
• Entnehmen der befüllten Gebinde aus dem Nest mittels einer zweiten Greifeinrichtung,
• erneutes Wiegen der einzelnen gewogenen und befüllten Gebinde, und
• Zurücksetzen der befüllten Gebinde nach dem zweiten Wiegen in das Nest oder in ein darauffolgendes Nest.

The object is further achieved by a method for filling nested containers, comprising the steps:

• Removing a series of containers to be filled from a nest by means of a first gripping device,
• Weighing the individual containers in an empty state,
• Resetting the empty containers into the nest, from which the first gripping device has taken the row to be filled containers, or in a subsequent nest,
• preferably simultaneous filling of the weighed containers,
• Removing the filled containers from the nest by means of a second gripping device,
• re weighing the individual weighed and filled containers, and
• Resetting the filled containers after the second weighing in the nest or in a subsequent nest.

By means of the device and the method it is possible to carry out an in-process control without interfering with the ongoing operation. Preferably, the filling system continues to run at normal speed. In addition, it is possible to monitor the filling process, exactly as it is done during operation. It is possible to process all packages with the same timing, regardless of the arrangement of the container, in particular regardless of the number of rows of containers in a nest or the number of containers in a row. In addition, a complete fill stroke can be tested by checking an entire row. Also influencing the filling points with each other can be excluded.

Thus, according to the present invention, at least 6% and in particular at least 10% of the containers can be checked, but it is also conceivable to check all, or fewer, containers.

The task is thus completely solved.

The first and the second gripping device are preferably constructed essentially identical.

The first and / or the second gripping device can be designed according to the container to be weighed. Thus, it is conceivable for the first and / or the second gripping device to have a lifting device which raises containers which project from the nests at the bottom, so that the gripping device can grasp the lifted containers, preferably by means of gripping tongs.

With correspondingly shaped containers, in particular containers with a radially outer upper end or cylindrically shaped containers with a sufficiently large distance between the individual containers, it is possible to dispense with a prior lifting of the container and grab the container directly.

Furthermore, it is conceivable to provide a gripping device with suction cups, wherein the suction cups can be arranged on a smooth surface of the container in order temporarily to fix the containers by means of negative pressure on the gripping device.

In the present case, transport means is understood to mean every possible type of device which is suitable for transporting nested containers. It is conceivable that nests of containers rest on two parallel conveyor rails and are promoted. It is also conceivable to use the nests in a rail provided for this, or to receive the nests in a transport carriage. Furthermore, it is possible to transport the nests of containers by means of a conveyor belt or to transport them clamped between at least two transport belts.

In the present case, nest should be understood as any type of device or arrangement which is suitable for grouping together several containers. The containers are preferably arranged in several rows. A series can consist of at least two containers.

A weighing station according to the present invention may be any type of weighing device that allows weighing several containers individually and substantially parallel.

According to one embodiment, the filling device has a control unit which is designed to control the first and the second gripping device and the at least one weighing station and to weigh at least 6% of the containers of a nest. As a result, a high quality standard can be achieved. In particular, at least 10% or exactly 10% of the packs of a nest can be weighed. An exemplary listing of different nest configurations is shown in the following table. Container per nest Number per row Share of a series of total packages of a nest [%] 160 16 10 10 6.25 100 10 10 64 8th 12.5 48 8th 16.67 6 12.5 ... ... ...

Preferably, a number of packages have exactly 6.25%, 10%, 12.5% or 16.67% of the packages of a nest. Thus, exactly 6.25%, 10%, 12.5% or 16.67% of the cans of a nest can be detected and weighed by the gripping means.

More preferably, a row on exactly 10 containers, wherein the first gripping device and / or the second gripping device is adapted to simultaneously grip 10 containers. As a result, the speed of the filling system can be further improved

In such systems, deviations in the filling behavior of the filling process to filling process are usually very low to none, so that checking the at least 6% and in particular at least 10% of the containers allows correct operation of the filling device to be checked and verified with high reliability.

In one embodiment of the filling device can be provided that the filling station has a plurality of filling points perpendicular to a conveying direction of the nested container, wherein the number of containers in a row corresponds to the number of filling points of the filling station.

In particular, both the first gripping device and the second gripping device can be designed such that they respectively grasp the entire row of the containers at the same time.

In addition, a complete fill stroke can be tested by checking an entire row. Also influencing the filling points with each other can be excluded.

In one embodiment of the filling device, it may further be provided that the row of nested containers extends perpendicular to a conveying direction of the nest.

Preferably, the first gripping device is designed such that it can set containers before or at the filling station back into or the nest. In this way it can be ensured that the filling process is not disturbed, so the filling device can continue to run at normal speed without regard to the measurement. Because no interruption to the measurement is necessary, the filling device can generally run faster. This allows for a consistent processing process so that higher accuracy can be achieved. In particular, the process times of the plant remain substantially the same, so that further process steps such as e.g. Fumigating the container can be carried out without being affected by the weighing process.

It is further preferred if the second gripping device is designed in such a way that it removes the containers from a nest behind the filling station, ie preferably between the filling station and a closing station, before the second weighing, and after the second weighing, removes the containers into or behind the nest the filling station and preferably before the closing station resets. As a result, an interruption-free filling process can be ensured.

According to a preferred embodiment, the first weighing station and / or the second weighing station have a plurality of weighing cells, wherein the number of weighing cells preferably corresponds at least to the number of containers to be weighed, wherein the containers are simultaneously individually weighable. As a result, a rapid weighing of all containers to be weighed is possible, wherein the speed with which the system runs while preferably depends essentially on the speed of the filling station and is not affected by the weighing.

According to a further preferred embodiment, the first gripping device and / or the second gripping device has an at least two-axis gripper. As a result, the filling device can be realized structurally simple and cost-efficient. In addition, a simple control of the first gripping device and / or the second gripping device and short transport times of the container to be weighed are possible.

According to a further preferred embodiment, the first gripping device and / or the second gripping device is designed such that it can remove containers, preferably a whole series of containers from several, in particular all, positions of the nest and in this or another position this or one reset other nest. As a result, a very dynamic design of the system is possible. In particular, the system can be continued during weighing, as the row can also be reset regardless of the position of the nest.

It is further preferred if the first gripping device and / or the second gripping device has a gripping tongs with two clamping strips in order to clamp a row of containers. This can be structurally simple, a removal of a number of containers can be achieved.

According to a preferred embodiment of the method, the net content of each individual container is determined from the result of the first weighing and the result of the second weighing, wherein the filling station is individually adjusted taking into account the specific net content of each container. As a result, an automated readjustment of the filling amount is possible, which allows an adjustment and self-correction of the filling without stopping the filling process.

This is particularly advantageous in the case of very critical products which, for example, have to be cooled or filled under a protective atmosphere. A lengthy adjustment of the filling system by hand is not necessary, the system is calibrated almost after the learning process, ie the first net content determinations.

The terms filling the container and closing the container are in the present case to be understood such that a filling or closing including a gassing of the container may be included.

It is understood that the features mentioned above and those yet to be explained not only in the combination specified, but also in other combinations or in isolation, without departing from the scope of the present invention.

Figur 1

eine schematische Darstellung einer Ausgestaltung einer erfindungsgemäßen Befüllstation in einer Produktionsstraße,

Figur 2a

eine schematische Draufsicht einer Ausgestaltung einer erfindungsgemäßen Befüllstation,

Figur 2b

eine schematische Seitenansicht der erfindungsgemäßen Befüllvorrichtung der Fig. 2a,

Figur 3a

eine schematische Draufsicht einer Greifeinrichtung,

Figur 3b

eine schematische Seitenansicht der Greifeinrichtung der Fig. 3a,

Figur 4

eine schematische Draufsicht einer erfindungsgemäßen Befüllvorrichtung in einer Befüllanlage,

Figur 5

eine Ausgestaltung eines erfindungsgemäßen Verfahrens, und

Figur 6a bis 6d

eine vereinfachte Darstellung verschiedener Entnahme-, Wiege- und Zurücksetzschritte.

Embodiments of the invention are illustrated in the drawings and will be explained in more detail in the following description. Show it:

FIG. 1

a schematic representation of an embodiment of a filling station according to the invention in a production line,

FIG. 2a

a schematic plan view of an embodiment of a filling station according to the invention,

FIG. 2b

a schematic side view of the filling device of the invention Fig. 2a .

FIG. 3a

a schematic plan view of a gripping device,

FIG. 3b

a schematic side view of the gripping device of Fig. 3a .

FIG. 4

a schematic plan view of a filling device according to the invention in a filling system,

FIG. 5

an embodiment of a method according to the invention, and

FIGS. 6a to 6d

a simplified representation of various removal, weighing and reset steps.

The Fig.1 schematically shows a filling device 10 in a production line for filling nests 12 of containers 14, which for reasons of clarity in Fig. 1 not shown further. The nests 12 are transported by a transport device 16, which is symbolized in a simplified manner by arrows in the direction of the arrow. The filling device 10 schematically shows a first gripping device 18 and a second gripping device 20, each having a pivot arm 22 and a gripping tongs 24. Furthermore, the filling device 10 has a filling station 26 and at least one weighing station 28 with weighing cells 30 not shown in more detail. In the transport direction after the filling device 10, a closing station 32 for closing the containers 14 is arranged, preferably followed by a packing station 34, in which the containers 14 can be removed from the nests 12 and packaged for further transport into corresponding containers, such as boxes , It is understood that the containers 14 may also remain in the nests 12 and may be packed together with the nests 12. In the transport direction in front of the filling device 10, an upstream device 38 may be provided in which the containers 14 are prepared for filling, so for example unpacked and arranged in the nests 12 and / or sterilized and / or heated or cooled to the in the container 14th not to affect the product to be filled.

The Fig. 2a 1 shows an embodiment of a filling device 10. The filling device 10 is supplied to nests 12 of containers 14 by means of a conveying device or transport device 16. The filling device 10 further has a first gripping device 18 and a second gripping device 20. The first gripping device 18 and the second gripping device 20 are constructed substantially identical, so that in the following only the first gripping device 18 will be described in more detail. The radii of movement of the gripping devices are shown schematically as circles.

The first gripping device 18 has a pivoting arm 22, on which a turnable gripping tongs 24 is arranged. The first gripping device 18 is arranged in the conveying direction in front of a filling station 26. In the conveying direction between the first gripping device 18 and the second gripping device 20, a weighing station 28 is arranged. The weighing station 28 has individual weighing cells 30. The weighing cells 30 may, for example, be designed as weighing cups.

The weighing station 28 is thus located at the same height as the filling station 26 with respect to the conveying direction. In the conveying direction behind the second gripping device 20, a closing station 32 is preferably arranged, which, for reasons of Overview is shown only schematically together with other downstream devices 34.

The first gripping device 18 is used to remove a series of containers 14 from a nest 12 and for transfer to the weighing station 28, wherein each weighing cell 30 of the weighing station 28 is preferably associated with a container 14, so that the container 14 are weighed substantially parallel and individually. After weighing, the containers 14 are picked up again by the first gripping device 18 and returned to the nest 12. The empty weight of the individual containers 14 can be registered here.

The nest 12 is then conveyed by means of the conveying or transporting device 16 in a conveying direction to the filling station 26, wherein the filling station 26, the container 14 a number of containers 14 can fill in parallel and individually. A series of containers extends perpendicular to the conveying direction. The containers are perpendicular to the conveying direction next to each other in the nest.

The filling of the container 14 is done at filling points of the filling station 26. The filling points can also be arranged perpendicular to the conveying direction next to each other. The filling takes place, for example, by means of so-called filling needles and is generally known in the prior art, so that further explanations regarding the exact filling process are dispensed with.

After filling, the series of pre-weighed containers 14 can be removed from the second gripping device 20 and fed back to the weighing station 28. The individual filled containers 14 can then be weighed again as described above. In this case, the net content of each individual container 14 can be determined and checked from the previously determined empty weight and the total weight. The result of the net content may be taken into account in the control of the filling station 26.

The filling device 10 described above is preferably only a partial section of a fully automated system, wherein devices that are required to the container 14th be provided in the nests 12 of the filling device 10 are connected upstream and in the present case schematically represented by the symbol with the reference numeral 38.

In Fig. 2b is the filling device 10 of Fig. 2a shown along the section A in a highly simplified representation. The conveying direction runs from left to right. The rows of containers 14 are shown simplified U-shaped. Since the first gripping device 18 is identical in construction to the second gripping device 20, the second gripping device 20 is indicated only schematically. Further shown are a total of three nests 12, each with four rows of containers 14, wherein in the middle nest 12 'a number of containers 14 is covered by the filling station 26.

In Fig. 3a a gripping device 18, 20 is shown. The gripping device 18, 20 has a pivoting arm 22, which is pivotable about a first end 22a, as in FIG Fig. 3a indicated by an arrow. At a second, the first opposite end 22b of the pivot arm 22, a gripping tongs 24 is arranged. This is arranged at the second end 22b of the pivot arm 22 and, as illustrated by an arrow, pivotally. The gripping tongs have a first clamping strip 24a and a second clamping strip 24b which are movable with respect to one another in such a way that they can clamp or release a series of containers 14.

In Fig. 3b is a section of the gripping device of Fig. 3a shown schematically along the section B. The gripper 24 is configured such that it can be moved upwards and downwards, that is perpendicular, with respect to the transport direction in order to remove the container 14 clamped in the first clamping strip 24a and the second clamping strip 24b from a nest 12.

In Fig. 4 is shown in plan view a filling device 10 with adjoining Verschließstation 32 with a Verschließmittelstation 36. The filling device 10 in the Fig. 4 corresponds essentially to the filling device 10 of Fig. 2a and 2 B , so that the same components are identified by the same reference numerals. In the following, the differences will be discussed in more detail.

The filling device 10 has a first weighing station 28a and a second weighing station 28b. The first gripping device 18 can remove a series of containers 14 from a nest 12 and transfer them to the first weighing station 28a. The first weighing station 28 can then determine the empty weight of the individual containers 14 in parallel, as described above. The first gripping device 18 can then remove the series of containers 14 from the first weighing station 28 a after weighing the container 14 and reset in the nest 12. The nest 12 is then transported by means of the transport device 16 and fed to the filling station 26, in which the containers 14 of each row are individually filled, each row being filled in parallel. After filling, the nest 12 is then moved by means of the transport device 16 further in the transport direction, wherein the previously weighed series of containers 14 can be removed from the second gripping device 20 and the second weighing station 28b can be supplied, wherein the second weighing station 28b the container 14th weighs individually and in parallel, and from the curb weight, so the result of the previous weighing, and the total weight, ie the result of re-weighing, the net content of the container 14 can be determined. This net content can then be taken into account in the control of the filling station 26. In particular, the filling station 26 can thereby be adjusted or readjusted.

After reweighing, the second gripping device 20 may remove the series of containers 14 from the second weighing station 28b and return them to the nest 12. The nest 12 is then moved by means of the transport device 16 further in the transport direction and fed to a closing station 32, in which the containers 14 are preferably closed individually and in parallel. Closure station 32 is provided with closure means by a feed device 36.

Subsequently, the closed filled and double weighed containers 14 may first be inspected, cooled or stored in quarantine and then labeled and fed to a packaging device not specified. The containers 14 are packed in different pack sizes according to an end user and are then ready for further transport / shipping.

In Fig. 5 the individual process steps of a method according to the invention are shown schematically. The method may preferably be carried out by one of the filling devices 10 described above. In a first step S1, the containers 14 to be filled are removed from a nest 12 by means of a first gripping device 18. In a second step S2, the individual containers 14 are weighed in an empty state and their empty weight determined. In a subsequent step S3, the empty weighed containers 14 are placed back in the nest 12 or in a nest 12 '. In the subsequent step S4, the empty and weighed containers located in the nest 12 are filled by the filling station 26 and subsequently removed from the nest 12 by means of a second gripper device 20 in a step S5. In a subsequent step S6, the singly weighed filled cans 14 are weighed again and finally placed back into the nest 12 or into another nest 12 'in a step S7.

In the method, the containers 14 are weighed individually, thus determining the weight of each individual container 14, wherein the containers 14 are also weighed substantially simultaneously.

With the method according to the invention, it is possible to weigh at least 6%, in particular exactly 10%, of all containers 14 before and after filling. It is of course also conceivable to weigh more containers 14, in particular all containers 14, before and after filling.

In particular, can be determined by the double weighing the container 14, the net content of the individual containers 14, wherein this net content can be preferably taken into account in the control of the filling station 26, so that an automatic adjustment of the filling station 26 is feasible.

The filling station 26 preferably has individual filling devices or filling points, each of which can fill a container 14, so that the filling station 26 can preferably fill a series of containers 14 substantially simultaneously. It is also conceivable that the filling station 26 has fewer or more filling devices.

In the Fig. 6a to 6d different embodiments of a method according to the invention are shown. For reasons of clarity, among other things, the transport device 16 and the filling station 26 are not shown. In this example, the transport direction of the nests 12 of containers 14 extends from bottom to top.

In Fig. 6a schematically a nest 12 is shown with containers 14, wherein a number of containers 14 can be removed from the first gripping device 18. This may be, for example, the first row of containers 14, as in FIG Fig. 6 represented by a border. It is understood that any number of the gripping device 18 can be removed. As described above, this series of containers 14 is clamped by the forceps 24 of the first gripping device 18, lifted out of the nest 12 and transferred to the weighing station 28 and weighed. Subsequently, the weighed packages 14 can be removed from the first gripping device 18 from the at least one weighing station 28 and into the nest 12 or into a subsequent nest 12 'as in FIG Fig. 6b be presented represented. Thereafter, as described above, the filling of the container 14 in the filling station 26, not shown.

As in Fig. 6c shown, the second gripping device 20 takes after filling the container 14 a number of already weighed and filled container 14 from the nest 12 and passes this row, as described above, the at least one weighing station 28, wherein the container 14 are weighed again and then from the second gripping device 20 back into the nest 12 or in the subsequent nest 12 'are passed.

If the first gripping device 18 has transferred the containers 14 into the nest 12 'after weighing, the second gripping device 20 removes a series of already weighed and filled containers 14 from the nest 12' and, after weighing, transfers this row back into the nest 12 'or in the following nest 12 ". This is schematically in Fig. 6d shown.

Preferably, at least one row of containers 14 of a nest 12 is weighed before and after filling, with one row corresponding, for example, to at least 6% and in particular at least 10% of the containers 14 of a nest 12.

It is understood that embodiments are also conceivable in which a number of containers 14 correspond to less than 10% and in particular less than 6% of the container 14 of a nest 12, wherein in this case at least as many rows of containers 14 of a nest 12 before and after are weighed filling that a total of at least the desired proportion of the container 14 of a nest 12 are weighed before and after filling.

The number of removed containers 14 preferably corresponds to the number of filling stations in the filling station 26, so that a complete filling cycle can be checked. Consequently, the influence of filling points on each other can be checked or excluded.

Preferably, when starting the system, each row of a first nest 12 is weighed, so that the system can be taught quickly. The system can be put into operation with little time and product loss.

Furthermore, when the system is emptying, preferably each row of the last nest 12 and possibly the penultimate nest 12 is weighed, so that it is possible to check up to which row and in particular up to which bundle 14 of a row the required fill level is reached. Thus, the product loss during emptying of the system can be minimized.

Claims (17)

Device (10) for filling nested containers (14), wherein the containers (14) are arranged in at least one row in a nest (12) and can be conveyed by means of a conveyor (16), with a filling station (26) for simultaneously filling the Container (14) of a row, with at least one weighing station (28) for weighing a row of the containers (14), with a first gripping device (18) for simultaneously removing a row of containers (14) to be filled and for transferring these containers (14) to a first weighing station (28a) of the at least one weighing station (28) and for transferring the weighed containers (14) from the at least one weighing station (28) back into the nest (12) from which the first gripping device (18) approaches the row filling container (14) or back into a subsequent nest (12 '), and characterized by a second gripping means (20) for simultaneously removing the row of filled and weighed containers (14) and for transferring these G binding (14) to the first weighing station (28a) or to a second weighing station (28b) of the at least one weighing station (28) and for transferring the row of filled and twice weighed containers (14) back from the at least one weighing station (28) the nest (12, 12 ') from which the second gripping device (20) has taken the row of filled containers (14) or back into a subsequent nest (12 "). Filling device (10) according to claim 1, characterized by a control device which controls the first gripping device (18), the second gripping device (20) and the at least one weighing station (28) and is designed to be at least 6%, in particular exactly 10%, the container (14) of a nest (12, 12 ', 12 ") to weigh. Filling device (10) according to claim 1 or 2, characterized in that a number of containers (14) at least 6%, in particular exactly 10%, the container (14) of a nest (12, 12 ', 12 ") corresponds. Filling device (10) according to one of claims 1 to 3, characterized in that a number exactly 10 containers (14), and that the first gripping device (18) and / or the second gripping device (20) is adapted to simultaneously grip 10 containers (14). Filling device (10) according to one of claims 1 to 4, characterized in that the filling station (26) has a plurality of filling points perpendicular to a conveying direction of the nested container (14), wherein the number of containers (14) of a number of the number of Filling stations of the filling station (26) corresponds, in particular wherein both the first gripping device and the second gripping device are designed such that they can take the entire row of containers at the same time. Filling device (10) according to any one of claims 1 to 5, characterized in that the row of nested containers (14) extends perpendicular to a conveying direction of the nest. Filling device (10) according to one of claims 1 to 6, characterized in that the first gripping device (18) is designed such that it resets the container (14) before or at the filling station (26). Filling device (10) according to one of claims 1 to 7, characterized in that the second gripping device (20) is designed such that before the second weighing the container (14) behind the filling station (26) from a nest (12, 12 ') and the container (14) behind the filling station (26) in the nest (12, 12') or a subsequent nest (12 ") sets back. Filling device (10) according to one of the preceding claims, characterized in that the first weighing station (28a) and / or the second weighing station (28b) of the at least one weighing station (28) comprises a plurality of weighing cells (30), wherein the number of load cells (30) preferably at least equal to the number of containers to be weighed (14), wherein the containers (14) are simultaneously individually weighable. Filling device (10) according to any one of the preceding claims, characterized in that the first gripping means (18) and / or the second gripping means (20) has an at least two-axis gripper. Filling device (10) according to any one of the preceding claims, characterized in that the first gripping device (18) and / or the second gripping device (20) is designed such that they container (14), preferably a series of containers (14), from several, in particular all, positions of a nest (12, 12 ', 12 ") can take and in this or another position of this nest (12, 12', 12") or a later nest (12, 12 ', 12 ") can reset. Filling device (10) according to any one of the preceding claims, characterized in that the first gripping device (18) and / or the second gripping device (20) comprises a gripping tongs (24) with two clamping strips (24a, 24b) to a number of containers ( 14). Method for filling nested containers (14), comprising the steps of: Removing (S1) a series of containers (14) to be filled from a nest (12) by means of a first gripping device (18), Weighing (S2) of the individual containers (14) when empty, - resetting (S3) the empty containers (14) into the nest (12) from which the first gripping device (18) has removed the row of containers (14) to be filled, or into a subsequent nest (12 '), Filling (S4) the weighed containers (14), Removing (S5) the filled containers (14) from the nest (12, 12 ') by means of a second gripping device (20), - reweighing (S6) the individual weighed and filled containers (14), and - resetting (S7) the filled containers (14) after reweighing (S6) into the nest (12, 12 ') from which the second gripping device (20) has removed the row of containers (14) to be filled, or a following one Nest (12 "). The method of claim 13, wherein the containers (14) are weighed individually and simultaneously. Method according to claim 13 or 14, wherein at least 6%, in particular exactly 10%, of all containers (14) of a nest (12, 12 ', 12 ") are weighed before and after filling. Method according to one of claims 13 to 15, wherein the net content of each individual container (14) is determined from the result of the weighing (S2) and the result of the reweighing (S6). The method of claim 16, wherein the filling amount of the filling station (26) is adjusted in consideration of the determined net content of each package (14).

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