EP3921237B1 - Machine et procédé de capsulage automatique de récipients, et ligne d'emballage comprenant ladite machine - Google Patents

Machine et procédé de capsulage automatique de récipients, et ligne d'emballage comprenant ladite machine Download PDF

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Publication number
EP3921237B1
EP3921237B1 EP20707844.5A EP20707844A EP3921237B1 EP 3921237 B1 EP3921237 B1 EP 3921237B1 EP 20707844 A EP20707844 A EP 20707844A EP 3921237 B1 EP3921237 B1 EP 3921237B1
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EP
European Patent Office
Prior art keywords
cap
transport
movement
transport units
pick
Prior art date
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Application number
EP20707844.5A
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German (de)
English (en)
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EP3921237A1 (fr
Inventor
Fabio Sassi
Giacinto Francesco PAPPALARDO
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IMA Industria Macchine Automatiche SpA
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IMA Industria Macchine Automatiche SpA
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Publication of EP3921237A1 publication Critical patent/EP3921237A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B7/00—Closing containers or receptacles after filling
    • B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
    • B65B7/28—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by applying separate preformed closures, e.g. lids, covers
    • B65B7/2807—Feeding closures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/005—Packaging other articles presenting special problems packaging of confectionery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes

Definitions

  • the field of application of the present invention is that of machines and methods for automatically capping containers.
  • the containers can be plastic containers intended to contain a plurality of discrete items, for example sweets such as candy, chewing gum, chocolates, biscuits, or food stuff in general.
  • the present invention also concerns a packaging line able to fill the containers with the discrete items and comprising the machine for capping the containers, after they have been filled.
  • Automatic packaging machines are known in the state of the art which are provided with devices able to cap containers previously filled with a plurality of items.
  • known devices comprise a plurality of mechanical members which pick up the caps and deposit them on the containers to be capped, where a suitable thruster element exerts a thrust force suitable to stably constrain the cap to the respective container, so as to close the latter.
  • the mechanical members as above typically comprise one or more rotatable members, each one rotating around a respective axis of rotation, for example conformed as star wheels provided with a plurality of seatings suitably shaped in order to temporarily hold the containers to be capped during the capping operation.
  • the containers are made to advance by the first wheel, which is driven in rotation according to a stepwise indexed movement.
  • a station for depositing the caps where these are rested on the containers, and, subsequently, a capping station where the caps are pressed by a thruster member against the mouth of the container, in order to close the latter.
  • anthropomorphic arms suitable to be used in the context of a piece of equipment for automatically capping containers are robots commonly used in the industrial automation sector and known as Delta robots, or robots called Scara (Selective Compliance Assembly Robot Arm).
  • the robots known in the state of the art comprise an articulated arm provided with several elements, articulated each with respect to the other according to the desired degrees of freedom, and supporting a tool, for example configured as a gripper, for picking up the caps, and depositing them on respective containers.
  • a tool for example configured as a gripper
  • Another disadvantage is it is a very complex configuration to control, because it would be necessary to coordinate the action of the different robots, in order to prevent reciprocal collisions, or collisions with other parts of the packaging machine.
  • One purpose of the present invention is therefore to provide a machine, and to perfect the corresponding method, for automatically capping containers, which, by overcoming the disadvantages of the state of the art, is fast and reliable, able to manipulate the caps at such a speed that it allows the automatic packaging line to reach high productivity values.
  • Another purpose of the present invention is to provide a machine, and to perfect the corresponding method, for automatically capping containers, which is more compact and less expensive than the solutions known in the state of the art.
  • Another purpose of the present invention is to provide a machine, and to perfect the corresponding method, for automatically capping containers, which is flexible, being able to manipulate different types of caps and requiring simple and rapid format change operations, which do not lead to long machine downtimes.
  • Another purpose of the present invention is to provide a machine, and to perfect the corresponding method, for automatically capping containers, which can be easily integrated into a packaging line so that it is possible to provide machine parts, such as for example the container transport line, which are suitable to interact with other work stations on the line, for example with a container filling station, so as to optimize the bulk, the number and disposition of the machine components, while also simplifying their structure.
  • machine parts such as for example the container transport line
  • other work stations on the line for example with a container filling station
  • the Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.
  • a capping machine for capping containers comprising a line to feed caps comprising at least one detection device configured to detect the position and/or the orientation of the caps on the feed line, a line to transport the containers, and an apparatus comprising a plurality of transport units, mobile with continuous rotary motion around a main axis of rotation, and a main actuator configured to drive the transport units in rotation around the axis as above, wherein the transport units are each configured to pick up a respective cap on the transport line and to deposit it on a respective container to be capped on the transport line.
  • each transport unit also comprises a gripping head able to be driven in rotation on itself, so as to be rotatably mounted around an axis of longitudinal development of the transport units.
  • the apparatus comprises at least two movement groups, each configured to move a first and second group of transport units according to an oscillating movement along a displacement directrix having at least one radial component with respect to the main axis of rotation, between a retracted condition, in which the transport units are closer to the main axis of rotation, and an extended condition, in which the transport units are more distant from the main axis of rotation; each movement group comprising a plurality of articulated movement devices each carrying a respective one transport unit in order to move the latter according to an alternate movement between the retracted condition and the extended condition.
  • the apparatus also comprises at least two motor members, each configured to drive a respective movement group in order to move the articulated movement devices as above so as to take the transport units in succession first into a pick-up position where the cap is picked up, and subsequently into a delivery position where the cap is delivered onto a respective container, in which the transport units are disposed respectively above a cap to be picked up and a container to be capped, substantially aligned vertically with them; wherein the pick-up and delivery positions of a cap are disposed, with reference to the radial component as above, between the retracted condition and the extended condition.
  • the capping machine comprises a programmable control and management unit, which is configured to control, in a coordinated manner, the movement of the apparatus with the movement of the feed line of the caps, and possibly with the movement of the transport line of the containers.
  • One advantage of the capping machine according to the present invention is that it is very flexible because the transport units can be advantageously taken into a position such that they are substantially aligned, in the pick-up position, with the caps to be picked up, and, in the delivery position, with the containers to be capped. Thanks to the control and command unit, the apparatus and the lines to feed the caps and to transport the containers are driven effectively and rapidly, in order to allow the capping machine to operate reliably and to reach high production rates.
  • the apparatus according to the present invention advantageously allows to adjust the movement of the transport units in order to easily adapt to caps and/or containers of the most varied formats.
  • the pick-up and delivery positions can be easily changed, since in order to change them it is sufficient to change the movement of the transport units (in particular, the trajectories and displacement speeds), for example in order to adapt to different operative conditions of the line to feed the caps.
  • Another advantage of the apparatus according to the present invention is that it is very compact, having a limited radial extension which allows to reduce its bulk.
  • Another advantage of the apparatus according to the present invention is that it does not require long and laborious format change operations. It is in fact sufficient to replace the gripping heads that grip the caps with another set of gripping heads having a shape mating with that of the format of the caps to be transported.
  • the transport units all rotate together around the main axis of rotation, for example according to a continuous motion with constant speed, all driven by the main actuator as above; however, with regards to the oscillating movement, the transport units of the first group are released in their movement from the transport units of the second group thanks to the independent motorization of the two groups, the former being for example in the retracted position, and the latter in the extended one.
  • the transport units comprised in the first group are disposed alternately with the transport units comprised in the second group, so that two consecutive transport units are constrained to a different movement group.
  • the movement groups as above are configured as an articulated quadrilateral.
  • Each transport unit extends along its axis of longitudinal development, which is substantially parallel to the main axis of rotation.
  • each transport unit comprises an actuator configured to move the gripping head of the caps which is mobile, in particular according to two different degrees of freedom, with respect to the transport unit itself.
  • the gripping head can both rotate around the axis of longitudinal development, and also translate linearly along the same axis.
  • the linear translation movement of the gripping heads allows them to be lowered toward the feed line of the caps and the transport line of the containers, both to pick up the caps and to deposit them on the containers, and to be raised - possibly together with the caps they hold - after the caps have been picked up and delivered.
  • the actuator allows the gripping head to exert the necessary thrust action that allows to constrain the cap in a stable and permanent manner to the respective container.
  • the gripping heads can rotate around the axis of longitudinal development of the transport unit that comprises them, they can advantageously rotate in order to angularly orient the seating able to receive the cap in accordance with the disposition of the cap on the feed line of the caps, a disposition which is detected before the cap arrives in correspondence with the pick-up position by suitable optical detection means.
  • the possibility that the gripping heads rotate around the axis of longitudinal development of the respective transport unit also advantageously means that the gripping heads are able to effectively manage the capping operation even if the caps are screw-on caps, because the rotation movement as above makes them suitable for screwing these caps on to the respective container.
  • the apparatus comprises pneumatic holding means to hold the cap, associated with the gripping heads, configured to exert a depression able to hold the caps.
  • an apparatus in accordance with the embodiments described above, cooperating with work stations disposed upstream and downstream of the apparatus, which are different from the feed and transport lines described above, possibly also in the context of an automatic machine different from the capping machine as above.
  • a method for capping containers, in particular by means of a capping machine in accordance with embodiments described above, in which it is provided to move the caps forward, individually fed, on a feed line, to detect the position and/or the orientation of the caps by means of a detection device, to drive a plurality of mobile transport units configured to each pick up one cap in a pick-up position, and to deposit them each in a delivery position on a respective container to be capped which is advancing on a transport line.
  • the step of driving the plurality of transport units allows to take them in succession firstly into the pick-up position of the cap and, subsequently, into the delivery position of the cap on a respective container, positions in which the transport units are disposed respectively above a cap to be picked up and a container to be capped, substantially aligned vertically with them.
  • the control and management unit of the capping machine before the driving step it is provided, by means of a control and management unit of the capping machine, to determine at least the position that the transport units will have to assume in the pick-up position as a function of the position of the cap that has been detected by means of the pick-up device, and possibly, after the control and management unit has calculated the instant in time when the transport unit will reach the pick-up position, to modify the feed speed of the caps on the feed line so that the cap to be picked up and the transport unit reach the pick-up position temporally coordinated with each other.
  • the driving step comprises:
  • the gripping head of the transport unit in correspondence with the pick-up position and the delivery position of the cap, respectively to pick up the cap individually fed by the feed line and to deposit it on a respective container advancing on the transport line, and subsequently, after having respectively picked up and deposited the cap, to raise the gripping head.
  • the transport unit moves at a speed correlated to the speed of advance of the feed line of the caps (for example, at a speed equal to the speed of advance of the conveyor belts that form the line), and that, in the delivery position of the cap, the transport unit moves at a speed correlated to the speed of advance of the transport line of the containers (for example, at a speed equal to the speed of advance of the line).
  • the relative speed between the transport units and the conveyor belts which move the caps forward is zero, at least at the moment the cap is picked up in correspondence with the pick-up position, and, similarly, the relative speed between the transport units and the transport line of the containers is zero, at least at the moment the cap is delivered in correspondence with the delivery position.
  • a packaging line is provided able to fill containers with discrete items, for example food items, such as sweets, chocolates, chewing gum, and comprising a station to fill the containers with the items and a capping machine in accordance with the embodiments described above.
  • a capping machine 100 ( fig. 1 ) is described for capping containers 101 with caps 102, as part of a packaging line intended to fill containers with discrete items.
  • the capping machine 100 comprises an apparatus 10 (visible enlarged in fig. 2 ) comprising a plurality of transport units 12 for transporting the caps 102, configured to take the caps 102 from a feed line 103, in correspondence with a pick-up position P1, transport the caps 102 toward a transport line 109 of the containers 101, and, in correspondence with a delivery position P2, deposit the caps 102 on respective containers 101.
  • an apparatus 10 visible enlarged in fig. 2
  • the capping machine 100 comprises an apparatus 10 (visible enlarged in fig. 2 ) comprising a plurality of transport units 12 for transporting the caps 102, configured to take the caps 102 from a feed line 103, in correspondence with a pick-up position P1, transport the caps 102 toward a transport line 109 of the containers 101, and, in correspondence with a delivery position P2, deposit the caps 102 on respective containers 101.
  • the capping machine 100 comprises a feed line 103 to feed the caps 102, comprising for example one or more conveyor belts 104, in particular disposed in sequence one after the other.
  • the feed line 103 comprises a spacer device 105, configured to distribute the caps 102, in particular in a uniform manner, on the line so as to space them appropriately to dispose them in a position suitable to be subsequently picked up by the apparatus 10, in particular by its transport units 12, as will be better explained below.
  • the spacer device 105 ( figs. 3 and 4 ) is able to distance each cap 102 from the immediately preceding and following caps by a distance D, measured parallel to a direction of feed X of the caps, as shown in figs. 2-4 and 8 .
  • the feed line 103 comprises one or more positioning members 106, configured to modify the position of the caps 102 on the feed line 103, for example in order to align the caps in a precise and predetermined position.
  • the positioning members 106 comprise a pair of abutment elements 107, disposed on one of the conveyor belts 104, to abut against the caps 102 advancing on the line and move them to the intended position, within a defined zone.
  • the feed line 103 Downstream of the positioning members 106, the feed line 103 comprises an optical detection device 108, for example configured as a high resolution and high speed digital video camera, commonly used in vision systems common in many industrial automation applications.
  • an optical detection device 108 for example configured as a high resolution and high speed digital video camera, commonly used in vision systems common in many industrial automation applications.
  • the optical detection device 108 is configured to detect the position and/or orientation of the cap 102 on the conveyor belt 104.
  • the optical detection device 108 can be configured, for example, to detect both the position of the cap 102 with respect to a determinate reference (for example with respect to the transport unit intended to pick it up), and the angular orientation of the cap 102 with respect to its center.
  • the machine 100 comprises one or more drive members, not shown, of a type known in the state of the art, which drive the conveyor belts 104 to feed the caps 102 on the feed line 103.
  • the machine 100 also comprises a transport line 109 to transport the containers 101.
  • the transport line 109 partly shown in fig. 1 , can have a closed ring configuration and cooperate with devices or members of a known type, and not shown, which load the containers 101 onto the transport line 109 after they have been filled, and unload the containers 101 from the transport line 109, after they have been capped by the apparatus 10 according to the present invention.
  • a delivery position P2 of the caps 102 is defined on the transport line 109, in correspondence with which the apparatus 10 according to the present invention deposits the caps 102 on respective containers 101.
  • the delivery position P2 is located on one of the two branches of the ring formed by the transport line 109 which extends along a transport axis Y.
  • the transport axis Y is for example incident with respect to the direction of feed X of the caps 102 along the feed line 103.
  • the transport line 109 can be driven by respective drive means, of a known type and not shown, or, alternatively, it can also be driven by an actuator member (for example a servomotor) comprised in the apparatus 10.
  • an actuator member for example a servomotor
  • the transport line 109 comprises a plurality of assemblies 110, mobile along the transport line 109, and better shown in figs. 2-4 and 8-9 .
  • Each assembly 110 comprises a compartment 111, suitably shaped to accommodate a respective container 101.
  • the compartments 111 are shaped in such a way as to stably hold the containers 101 during their movement along the transport line 109.
  • the assemblies 110 when the shape and size of the containers to be capped change, the assemblies 110 must be replaced with other assemblies having compartments 111 with a shape mating with that of the containers 102 to be capped.
  • the apparatus 10 comprises a support device 11, for example having a substantially cylindrical shape, hollow inside.
  • the support device 11 extends, optionally in an axial-symmetrical manner, around a main axis of rotation Z of the apparatus 10, which is substantially vertical.
  • the support device 11 can comprise a fixed base 15 and a support member 16, mobile with respect to the base 15 and rotating around the main axis of rotation Z.
  • the support device 11 supports the plurality of transport units 12 in a cantilevered manner and rotates them around the main axis of rotation Z by means of a main actuator 38, of a type known in the state of the art, visible in fig. 2 .
  • the main actuator 38 comprises an electric motor 39 which rotates a toothed wheel 40, which in turn drives a transmission belt 41 which rotates a member integral with the support member 16, thus making the latter rotate.
  • the apparatus 10 comprises eight transport units, to which here and in this description we will refer generically with the reference number 12, while the letters A to H will be used to identify them individually.
  • Each transport unit 12 develops mainly along a respective axis of longitudinal development T, substantially vertical, and parallel to the main axis of rotation Z.
  • the apparatus 10 comprises at least a first movement group 13, to which one or more transport units 12 are constrained.
  • the apparatus 10 also comprises a second movement group 14, to which one or more respective transport units 12 are constrained.
  • the four transport units 12A, 12C, 12E, 12G form a first group constrained to the first movement group 13, while the remaining four transport units 12B, 12D, 12F, 12H form a second group constrained to the second movement group 14.
  • the four transport units 12A, 12C, 12E, 12G of the first group are disposed alternately with the four transport units 12B, 12D, 12F, 12H of the second group, so that two consecutive transport units are constrained to a different movement group 13, 14.
  • the movement group 13, 14, as will be explained in detail below, allows to move the transport units 12 between a retracted condition R ( fig. 3 ), in which the transport units 12 are closer to the main axis of rotation Z, and an extended condition E ( fig. 4 ), in which the transport units 12 are more distant from the main axis of rotation Z.
  • the axes of longitudinal development T of the transport units 12 are disposed along a first circumference CMIN which defines the minimum distance, measured in a radial direction, between the transport units 12 and the main axis of rotation Z.
  • the axes of longitudinal development T of the transport units 12 are disposed along a second circumference C MAX which defines the maximum distance, measured in a radial direction, between the transport units 12 and the main axis of rotation Z.
  • the transport units 12 can be disposed in a suitable position, so that they are vertically aligned respectively above the cap 102 to be picked up in the pick-up position P1 and above the container 101 to be capped in the delivery position P2, which is variable between the retracted condition R and the extended condition E.
  • this suitable position is the position in which the ideal circumference defined as the place of the points on which the axes of longitudinal development T of the transport units 12 are located connected to the same movement group 13, 14 is substantially tangent respectively to the direction of feed X in the pick-up position P1 and/or to the transport direction Y in the delivery point P2.
  • the ideal circumference as above is a circumference having a radius comprised between the radius of the first circumference C MIN and the radius of the second circumference C MAX .
  • the second circumference C MAX has also been shown; while in fig. 4 the first C MIN circumference has also been shown, so as to display, in the same drawing, the minimum and maximum radial extension limit of the transport units 12.
  • the transport units 12 are supported by the support member 16 of the support device 11.
  • the support member 16 comprises a plurality of lobes 17, each intended to support a respective transport unit 12.
  • Each transport unit 12 is pivoted to the respective lobe 17 and moved by an articulated movement device comprised in the movement group 13, 14 and driven by motor members 28, 29, visible in fig. 2 .
  • first movement group 13 and the second movement group 14 each comprise four articulated movement devices, each configured to move, according to an alternating movement, a respective transport unit 12 comprised respectively in the first or second group of transport units, between the retracted condition R and the extended condition E.
  • the four articulated movement devices both of the first movement group 13 and of the second movement group 14, are connected to a respective movement member 23, which is in turn driven in rotation around the main axis of rotation Z by the first or second motor members 28, 29, depending on whether it is the movement member 23 comprised in the first or second movement group 13, 14.
  • Each articulated movement device is formed by a plurality of components, reciprocally articulated, to allow the respective transport unit 12 to carry out the alternating movement as above.
  • the lobes 17 are provided with a through hole 18 intended to receive an attachment pin 19.
  • the lobes 17 to which no transport unit 12 is connected are the lobes intended to receive the second group of transport units 12B, 12D, 12F, 12H, constrained to the second movement group 14, which are not shown here.
  • the transport unit 12 comprises a body 20 from which two connection fins 21 project, toward a respective lobe 17, which are sized so as to be positioned respectively above and below the lobe 17.
  • connection fin 21 has another hole 22 ( fig. 8 ), which is aligned with the through hole 18 and constitutes its extension so as to define a single hole having an axis substantially parallel to the axis of longitudinal development T of the transport unit 12.
  • the attachment pin 19 enters into the other hole 22 of the two connection fins 21, and into the through hole 18, and is tightened according to methods known in the state of the art.
  • each transport unit 12 is rotatably attached to the support member 16 since it is pivoted to a respective lobe 17 by means of the attachment pin 19.
  • the first movement group 13 comprises a movement member 23, for example cruciform, provided with four arms 24 and rotating both clockwise and also counterclockwise, around the main axis of rotation Z.
  • the main axis of rotation Z defines an axis of symmetry of the movement member 23.
  • the movement member 23 comprises a number of arms 24 different from four, but in any case equal to the number of transport units 12 connected to the movement group 13, 14.
  • Each articulated movement device comprises a rod 25, configured to connect an arm 24 to the body 20 of a respective transport unit 12.
  • the rods 25 are connected - on one side - to the movement member 23 in correspondence with a distal end 24A of the respective arm 24, and - on the other side - to the body 20 of the respective transport unit 12 in correspondence with a coupling portion 26 of the body 20.
  • the coupling portion 26 is located on the opposite side with respect to the fulcrum defined by the attachment pin 19, with respect to the axis of longitudinal development T of the transport units 12.
  • Each articulated movement device also comprises two eyelets 27 ( fig. 8 ), each disposed in correspondence with the relative end of the rod 25, intended to engage with respective pins provided both in correspondence with the distal end 24A, and also in correspondence with the coupling portion 26.
  • eyelets 27 fig. 8
  • both the distal end 24A and the coupling portion 26 are conformed as a fork, where the pin extends between the two prongs of the fork.
  • the apparatus 10 comprises a first motor member 28 to drive the movement group 13 in rotation.
  • the first motor member 28 of a type known in the state of the art, drives in rotation the movement member 23 to make it perform a determinate rotation, clockwise or anticlockwise, around the main axis of rotation Z.
  • the action of the first motor member 28 causes the movement member 23 to be mobile with respect to the support member 16, which is in turn rotatable, as previously described, around the same main axis of rotation Z.
  • the rotation of the movement member 23 around the main axis of rotation corresponds to an oscillating or tilting movement of the transport units 12 connected to it, in the direction indicated by the arrows F in figs. 5 and 6 .
  • the oscillating or tilting movement as above causes the transport units 12 to move in a directrix of movement having at least one radial component L with respect to the main axis of rotation Z.
  • the movement members 23 of the two articulated mechanisms 13, 14 are coaxial with respect to each other and with respect to the central axis of rotation Z, one being disposed above and one below, each connected respectively to the first motor member 28 and the second motor member 29 of its own movement group.
  • first motor member 28 and the second motor member 29, of a type known in the state of the art are substantially similar to each other both structurally and functionally, as shown in fig. 2 .
  • the first motor member 28 and the second motor member 29 each comprise a respective electric motor 42, which rotates a toothed element 43 associated with it, on which a respective transmission belt 44 is wound.
  • the latter selectively rotates a rotating element comprised inside the support device 11, and for this reason not visible in the attached drawings, which is constrained to the respective movement member 23, in order to rotate in its turn the latter in the manner described above.
  • Fig. 7 shows another operating condition of the apparatus 10, obtainable thanks to the fact that the first movement group 13 and the second movement group 14 are commanded independently by the first motor member 28 and the second motor member 29 respectively.
  • the additional operating condition visible in fig. 7 shows the transport units 12A, 12C, 12E and 12G of the first movement group 13 disposed in the retracted condition R, while the transport units 12B, 12D, 12F and 12H of the second movement group 14 are disposed in the extended condition E.
  • the axes of longitudinal development T of the transport units 12A, 12C, 12E and 12G of the first movement group 13 are therefore disposed on the first circumference C MIN
  • the axes of longitudinal development T of the transport units 12B, 12D, 12F and 12H of the second movement group 14 are disposed on the second circumference C MAX .
  • a number of movement groups other than two can be provided, each of which can comprise a number of articulated movement devices other than four, for moving a group of transport units consisting of a number of units other than four, and each movement group may have a structure different from that described above, by way of example only, provided that it is able to determine, also in a technically equivalent manner, the oscillating movement of the transport units 12.
  • each transport unit 12 comprises a gripping head 30 of the caps 102, better visible in the section of fig. 10 .
  • the gripping head 30 comprises a seating 31 intended to receive the cap 102, having a shape mating with that of the cap.
  • a seating 31 intended to receive the cap 102, having a shape mating with that of the cap.
  • the gripping head 30 comprises a holding member 32, for example configured as a suction cup, to retain the cap 102 inside the seating 31.
  • a feed channel 33 is provided, which puts the holding member 32 in flow communication with an air source at a pressure lower than atmospheric pressure, suitable to allow the generation of a sufficient depression to guarantee an effective holding of the cap 102 by the gripping head 30, at least during the movement of the cap 102 from the cap feed line 103 to the container transport line 109.
  • the surface of the holding member 32 intended to contact the cap 102 has a shape mating with that of the cap.
  • the holding member 32 is mobile angularly with respect to the axis of longitudinal development T to incline the surface intended to contact the cap 102 with respect to the latter.
  • This embodiment is particularly suitable in the case where the apparatus 10 has to transport caps 102 with particular shapes, having to hold them in correspondence with an inclined surface with respect to a horizontal plane.
  • the gripping head 30 does not have the holding member 32 shaped like a suction cup; however, mechanical or electromechanical or magnetic holding means are provided, totally equivalent from the functional point of view, as an alternative to the pneumatic holding member 32 described above.
  • Each transport unit 12 comprises an actuator 34 to move the corresponding gripping head 30.
  • the actuator 34 is installed below the body 20 and constitutes its downward extension, along the axis of longitudinal development T of the transport unit 12.
  • the actuator 34 comprises a servomotor of a type known in the state of the art, commonly available on the market.
  • the actuator 34 commands the movement of a bar 35, through mechanisms known in the state of the art which will not be described in detail here.
  • the bar 35 to which the gripping head 30 is connected, can both slide linearly along the axis of longitudinal development T, and also rotate around this same axis, thus giving the gripping head 30 a combined movement of translation and rotation with respect to axis of longitudinal development T.
  • Each transport unit 12 also comprises a plurality of attachments 36, for example configured as linear or L-shaped connectors, intended to receive respective distribution pipes connected to an energy source, for example electric or pneumatic, to power the various components comprised in the transport unit, such as for example the holding member 32 or the actuator 34.
  • an energy source for example electric or pneumatic
  • the apparatus 10 also comprises a collector 37, disposed above the transport units 12, which provides for the transmission of power and data signals between the fixed and moving parts of the apparatus 10 according to methods known in the state of the art, in particular also in relation to the machine 100 which comprises it.
  • the capping machine 100 comprises a programmable control and management unit 45, schematically indicated by the dotted rectangle in fig. 1 , configured to control its functioning and to command the movement of the capping machine so that the apparatus 10 is commanded in a coordinated manner at least with the feed line 103 of the caps 102, and with the transport line 109 of the containers 101.
  • the control and management unit 45 is located inside the collector 37.
  • the caps 102 individually fed on the feed line 103, reach the pick-up position P1 distanced by a distance D from each other which is correlated to the geometry and location of the apparatus 10, in particular to the disposition on it of the transport units 12 and the conformation of the latter.
  • the optical detection device 108 Before reaching the pick-up position P1, the optical detection device 108 has detected the relative position of the cap 102 with respect to the transport unit 12 which will have to pick it up, as shown in fig. 3A , where both the cap 102 under the optical detection device 108, and the transport unit 12 that will have to pick it up have been highlighted with a dotted pattern.
  • control and management unit 45 makes an estimate of the positions where the cap 102, and the transport unit 12 which will have to pick it up, will be located at the time it is picked up, taking into consideration their trajectory and the respective speeds of displacement.
  • control and management unit 45 is able to calculate in advance any relative deviations, in the directions of the two orthogonal axes indicated by the arrows A1, A2 in fig. 3A , which would lead to a misalignment between the cap 102 to be picked up and the corresponding transport unit 12 in correspondence with the pick-up position P1.
  • control and management unit 45 is configured to command in feedback the transport units 12 and the feed line 103 of the caps 102 in order to determine their reciprocal alignment in the pick-up position P1.
  • control and management unit 45 first establishes the position that the transport unit 12 should have, determining where it should be located (that is, on which intermediate circumference comprised between the retracted position R and the extended position E, that is, between the circumferences C MIN and C MAX , as explained previously with reference to figs.
  • the optical detection device 108 also detects the angular orientation of the cap 102, so that on the basis of the detected orientation, the control and management unit 45 commands the actuator 34 to possibly rotate the gripping head 30 around the axis of longitudinal development T of the transport unit 12A which is reaching the pick-up position P1 ( fig. 9A ), so that the seating 31 has the same orientation as the cap 102 to be picked up.
  • the transport unit 12A when the transport unit 12A has reached the pick-up position P1, it is in a vertically aligned condition, that is, disposed above the cap 102 to be picked up, thanks to the combined actuation, by the control and command unit, of the transport units 12 with that of the feed line 103 of the caps 102, as explained above ( fig. 9B ).
  • the actuator 34 has also translated vertically downward, along the axis of longitudinal development T, the gripping head 30 of the transport unit 12A, by a quantity such as to allow the gripping head 30 to reach the cap 102 disposed on the conveyor belt 104.
  • the actuator 34 translates, vertically upward along the axis of longitudinal development T, the gripping head 30, which is holding the cap 102, shown in fig. 9C in an intermediate position along the path between the pick-up position P1 and the delivery point P2 of the cap.
  • the holding member 32 engages with the cap 102 so as to hold it inside the seating 31.
  • the actuator 34 rotates the gripping head 30 to ensure that the seating 31 in which the cap 102 is held is correctly oriented with respect to the position of the respective container 101, on which the cap must be deposited in the delivery position P2.
  • the gripping head 30 In the delivery position P2 ( fig. 9D ) the gripping head 30 translates vertically downward, with a movement similar to that described above with reference to the pick-up position P1 of the cap 102.
  • the transport unit 12A deposits the cap 102 on the respective container 101, and keeps it pressed on it for a determinate period of time, during which the actuator 34 allows the gripping head 30 to exert an adequate downward thrust force.
  • the transport unit 12A After depositing the cap 102, the transport unit 12A translates vertically upward along the axis of longitudinal development T and continues its rotation movement around the main axis of rotation Z, without the cap 102, until it returns to the pick-up position P1, in order to pick up another cap 102 and then repeat the operating cycle described above.
  • a transport unit 12 which is picking up a cap 102 in the pick-up position P1 which is comprised in a group of transport units connected to a movement group 13, 14, while simultaneously another transport unit 12 which is comprised in another group of transport units connected to a different movement group 14, 13, is delivering a cap 102 above a container 101 in the delivery position P2.
  • the transport units 12B-12E, 12A-12D, 12H-12C and 12F-12A are respectively picking up and delivering a cap 102.
  • the position of the transport unit 12 which is picking up the cap 102 from the feed line 103 is released from the position of the transport unit 12 which is delivering the cap 102 on the transport line 109 of the containers 101, being able to be disposed with great flexibility respectively in correspondence with the pick-up position P1 and delivery position P2, by suitably actuating the different movement groups 13, 14.
  • the capping machine 100 is able to effectively manage malfunctions, such as for example the case where the cap 102 to be picked up on the feed line 103 is missing, or a container 101 from the respective assembly 110 is missing.
  • the control and management unit 45 of the capping machine 100 will command the apparatus 10 in a manner coordinated with the lines 103, 109, for example by not having the cap 102 picked up from the transport unit 12 which should be deposited on the missing container, or by holding the cap 102 picked up for a complete cycle and then depositing it when, in the next cycle, the transport unit 12 reaches the delivery point P2 again.
  • the transport unit 12 can "follow" for a certain segment of the transport line 109 the container 101 on which the cap 102 has to be deposited, with the delivery position P2 translating downstream, but always disposed between the retracted position R and the extended position E.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sealing Of Jars (AREA)
  • Closing Of Containers (AREA)

Claims (13)

  1. Machine à capsuler pour capsuler des récipients (101), comprenant :
    - une ligne (103) pour acheminer des capsules (102),
    - une ligne (109) pour transporter lesdits récipients (101),
    - un appareil (10) comprenant une pluralité d'unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H), mobiles avec un mouvement de rotation continu autour d'un axe de rotation principal (Z), et un actionneur principal (38) configuré pour entraîner lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) en rotation autour dudit axe de rotation principal (Z), lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) étant configurées pour ramasser des capsules (102) acheminées individuellement par ladite ligne (103) d'acheminement et pour déposer chacune d'elles sur un récipient (101) respectif à capsuler et qui avance sur ladite ligne (109) de transport, dans laquelle chaque unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) comprend une tête de préhension (30) pour saisir les capsules (102), l'appareil comprenant également au moins deux groupes de mouvement (13 ; 14) configurés chacun pour déplacer un premier ou un second groupe desdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) selon un mouvement oscillant le long d'une directrice de déplacement ayant au moins une composante radiale (L) par rapport audit axe de rotation principal (Z), entre une condition rétractée (R), dans laquelle lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) sont plus proches de l'axe de rotation principal (Z), et une condition étendue (E), dans laquelle lesdites unités de transport (12A, 12C, 12E, 12G, 12B, 12D, 12F, 12H) sont plus éloignées de l'axe de rotation principal (Z), chacun desdits au moins deux groupes de mouvement (13 ; 14) comprenant une pluralité de dispositifs de mouvement articulés (25) chacun déplaçant l'une respective desdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) selon un mouvement alternatif entre ladite condition rétractée (R) et ladite condition étendue (E), successivement, d'abord dans une position de ramassage (P1) où la capsule (102) est ramassée, et ensuite dans une position de distribution (P2) où la capsule (102) est distribuée sur un récipient (101) respectif ; dans laquelle les positions de ramassage (P1) et de distribution (P2) d'une capsule (102) sont situées, en référence à ladite composante radiale (L), entre ladite condition rétractée (R) et ladite condition étendue (E) ; et dans laquelle des unités de transport (12A, 12C, 12E, 12G) comprises dans ledit premier groupe sont disposées en alternance avec des unités de transport (12B, 12D, 12F, 12H) comprises dans ledit second groupe, de sorte que deux unités de transport (12A, 12C, 12E, 12G, 12B, 12D, 12F, 12H) consécutives soient respectivement contraintes à un groupe de mouvement différent (13 ; 14), et
    - une unité de commande et de gestion (45) programmable, qui est configurée pour commander, de manière coordonnée, le mouvement dudit appareil (10) avec le mouvement de ladite ligne (103) d'acheminement des capsules (102), et éventuellement avec le mouvement de ladite ligne (109) de transport des récipients (101),
    la machine à capsuler étant caractérisée en ce qu'elle comprend au moins un dispositif de détection (108) configuré pour détecter la position et/ou l'orientation des capsules (102) sur ladite ligne (103) d'acheminement, et en ce que ledit appareil comprend au moins deux éléments moteurs (28 ; 29) configurés chacun pour entraîner l'un respectif desdits groupes de mouvement (13 ; 14) afin de déplacer lesdits dispositifs de mouvement articulés (25) de manière à amener lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) successivement dans lesdites positions de ramassage (P1) et de distribution (P2) de la capsule (102).
  2. Machine selon la revendication 1, caractérisée en ce qu'elle comprend un dispositif de support (11) qui s'étend autour dudit axe de rotation principal (Z) et comprend une base (15) fixe et un élément de support (16), mobile par rapport à ladite base (15) et qui tourne autour dudit axe de rotation principal (Z), qui est entraîné en rotation par ledit actionneur principal (38).
  3. Machine selon la revendication 1 ou 2, caractérisée en ce que lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) sont supportées par un élément de support (16) d'un dispositif de support (11), qui tourne autour dudit axe de rotation principal (Z), et qui comprend une pluralité de lobes (17), chacun étant destiné à supporter une unité de transport (12) respective ; dans laquelle cette dernière est pivotante sur le lobe (17) respectif et déplacée, afin d'effectuer ledit mouvement oscillant, au moyen de l'un respectif desdits dispositifs de mouvement articulés (25) relié à un élément de mouvement (23), qui est à son tour entraîné en rotation autour dudit axe de rotation principal (Z) par lesdits éléments moteurs (28 ; 29) qui entraînent ledit groupe de mouvement (13 ; 14).
  4. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que chaque unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) se développe principalement le long d'un axe de développement longitudinal (T) respectif, sensiblement vertical, et parallèle audit axe de rotation principal (Z), et comprend un actionneur (34) pour déplacer la tête de préhension (30) correspondante, qui est configurée à la fois pour coulisser linéairement le long dudit axe de développement longitudinal (T) et pour tourner autour de celui-ci.
  5. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que ladite tête de préhension (30) comprend un logement (31) destiné à recevoir une capsule (102) et présentant une forme correspondant à celle de la capsule, et comprend également un élément de maintien (32) pour maintenir la capsule (102) à l'intérieur dudit logement (31).
  6. Machine selon la revendication 5, caractérisée en ce que ledit élément de maintien (32) est configuré comme une ventouse, et un canal d'alimentation (33) est également prévu, qui met ledit élément de maintien (32) en communication d'écoulement avec une source d'air à une pression inférieure à la pression atmosphérique, appropriée pour permettre la génération d'une dépression suffisante pour garantir que la capsule (102) est maintenue par ladite tête de préhension (30).
  7. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que ladite ligne (103) d'acheminement comprend un dispositif d'espacement (105) et/ou un ou plusieurs éléments de positionnement (106) configurés pour modifier la position des capsules (102) sur ladite ligne (103) d'acheminement.
  8. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que ladite tête de préhension (30) pour ramasser les capsules (102) est montée de manière rotative autour d'un axe de développement longitudinal (T) de l'unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) respective.
  9. Machine selon l'une quelconque des revendications précédentes, caractérisée en ce que, dans les positions de ramassage et de distribution (P1, P2), lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) sont disposées respectivement au-dessus de la capsule (102) à ramasser et du récipient (101) à capsuler, sensiblement en alignement vertical avec ceux-ci.
  10. Ligne de conditionnement capable de remplir des récipients avec des articles distincts, par exemple des articles alimentaires, tels que des bonbons, des chocolats, des chewinggums, et comprenant un poste pour remplir lesdits récipients (101) avec lesdits articles et une machine à capsuler (100) selon l'une quelconque des revendications précédentes.
  11. Procédé pour capsuler des récipients (101) au moyen d'une machine à capsuler (100), caractérisé en ce qu'il est prévu de déplacer des capsules (102) vers l'avant, acheminées individuellement, sur une ligne (103) d'acheminement, de détecter la position et/ou l'orientation des capsules (102) au moyen d'un dispositif de détection (108), d'entraîner une pluralité d'unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) mobiles, configurées pour ramasser chacune une capsule (102) dans une position de ramassage (P1), et pour les déposer chacune dans une position de distribution (P2), sur un récipient (101) respectif à capsuler qui avance sur une ligne (109) de transport, dans lequel ledit entraînement permet d'amener lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) successivement, d'abord dans ladite position de ramassage (P1) de la capsule (102) et, ensuite, dans ladite position de distribution (P2) de la capsule (102) sur un récipient (101) respectif, des positions (P1, P2) dans lesquelles les unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) sont disposées respectivement au-dessus d'une capsule (102) à ramasser et d'un récipient (101) à capsuler, sensiblement en alignement vertical avec ceux-ci, dans lequel avant ledit entraînement, il est prévu, au moyen d'une unité de commande et de gestion (45) de ladite machine à capsuler (100), de déterminer au moins la position que lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) devront prendre dans ladite position de ramassage (P1) en fonction de la position de ladite capsule (102) telle que détectée au moyen dudit dispositif de ramassage (108), et éventuellement, après que ladite unité de commande et de gestion (45) a calculé l'instant où ladite unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) atteindra ladite position de ramassage (P1), de modifier la vitesse d'acheminement des capsules (102) sur ladite ligne (103) d'acheminement de sorte que la capsule (102) à ramasser et l'unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) atteignent ladite position de ramassage (P1) en coordination temporelle l'une avec l'autre, dans lequel ledit entraînement comprend :
    - le fait d'entraîner en rotation, selon un mouvement de rotation continu, une pluralité d'unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) autour d'un axe de rotation principal (Z) au moyen d'un actionneur principal (34),
    - éventuellement, le fait de faire tourner sur elle-même une tête de préhension (30) des capsules (102), comprise dans chacune desdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) au moyen d'un actionneur (24) configuré pour faire tourner ladite tête de préhension (30) autour d'un axe de développement longitudinal (T) de l'unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) respective, en fonction de l'orientation de la capsule (102) telle que détectée par ledit dispositif de détection (108) ;
    - le déplacement des premier et second groupes respectifs desdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) selon un mouvement oscillant, au moyen d'au moins deux groupes de mouvement (13 ; 14), le long d'une directrice de déplacement ayant au moins une composante radiale (L) par rapport audit axe de rotation principal (Z), entre une condition rétractée (R), dans laquelle lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) sont plus proches dudit axe de rotation principal (Z), et une condition étendue (E), dans laquelle lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) sont plus éloignées dudit axe de rotation principal (Z), dans lequel chacune desdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) est reliée à un dispositif de mouvement articulé (25) compris dans lesdits au moins deux groupes de mouvement (13 ; 14) afin de déplacer lesdites unités de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) selon un mouvement alternatif entre ladite condition rétractée (R) et ladite condition étendue (E) ; ledit déplacement comprend le fait d'entraîner au moins deux éléments moteurs (28, 29) configurés chacun pour entraîner l'un respectif desdits groupes de mouvement (13 ; 14) afin de déplacer lesdits dispositifs de mouvement articulés (25) selon un mouvement alternatif entre ladite condition rétractée (R) et ladite condition étendue (E), entre lesquelles se trouvent, en référence à ladite composante radiale (L), ladite position de ramassage (P1) et ladite position de distribution (P2) d'une capsule (102) ;
    - le fait d'amener une unité de transport (12A, 12C, 12E, 12G) comprise dans le premier groupe jusqu'à la position de ramassage (P1) de la capsule (102), et en même temps d'amener une unité de transport (12B, 12D, 12F, 12H) comprise dans le second groupe jusqu'à la position de distribution (P2) de la capsule (102) sur un récipient (101) respectif, ou vice versa.
  12. Procédé selon la revendication 11, caractérisé en ce qu'il est prévu, au moyen dudit actionneur (24), d'abaisser la tête de préhension (30) de l'unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) en correspondance avec la position de ramassage (P1) et la position de distribution (P2) de la capsule (102), respectivement de ramasser la capsule (102) acheminée individuellement par la ligne (103) d'acheminement et de la déposer sur un récipient (101) respectif qui avance sur la ligne (109) de transport, et ensuite, après avoir respectivement ramassé et déposé la capsule (102), de lever la tête de préhension (30).
  13. Procédé selon la revendication 11 ou 12, caractérisé en ce qu'il est prévu que, dans la position de ramassage (P1) de la capsule (102), l'unité de transport (12A, 12C, 12E, 12G ; 12B, 12D, 12F, 12H) se déplace à une vitesse corrélée à la vitesse d'acheminement de la ligne (103) d'acheminement faisant avancer les capsules (102) individuellement, et en ce que, dans la position de distribution (P2), l'unité de transport (12A, 12C, 12E, 12G, 12B, 12D, 12F, 12H) se déplace à une vitesse corrélée à la vitesse d'acheminement de la ligne (109) de transport des récipients (101).
EP20707844.5A 2019-02-06 2020-02-05 Machine et procédé de capsulage automatique de récipients, et ligne d'emballage comprenant ladite machine Active EP3921237B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102019000001725A IT201900001725A1 (it) 2019-02-06 2019-02-06 Macchina e procedimento per tappare automaticamente contenitori, e linea di confezionamento comprendente tale macchina.
PCT/IT2020/050021 WO2020161759A1 (fr) 2019-02-06 2020-02-05 Machine et procédé de capsulage automatique de récipients, et ligne d'emballage comprenant ladite machine

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CN (1) CN113646234B (fr)
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WO2023216252A1 (fr) * 2022-05-13 2023-11-16 Abb Schweiz Ag Système et procédé d'operculage d'un contenant
CN117087925B (zh) * 2023-10-16 2023-12-15 烟台金丝猴食品科技有限公司 一种糖果定量供给装置

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IT1206964B (it) * 1979-04-13 1989-05-17 American Flange & Mfg Apparecchiatura per tappare bottiglie mediante capsule di chiusura
US4498275A (en) * 1979-04-16 1985-02-12 Lykes Pasco Packing Company Rotary filling and capping apparatus
DK1772403T3 (da) * 2005-10-05 2008-08-18 Fameccanica Data Spa Apparat til at ændre den adskillende afstand mellem transporterede genstande
IT1396856B1 (it) * 2009-06-05 2012-12-20 Azionaria Costruzioni Acma Spa Macchina tappatrice di contenitori
US20110016828A1 (en) * 2009-07-23 2011-01-27 Parker Richard A Method And Apparatus For Labeling A Cap And Threading The Cap Onto A Bottle
RU2578529C2 (ru) * 2012-01-20 2016-03-27 О Энд Картон Лунд Аб Устройство и способ для прикрепления крышек к контейнерам
ITTO20130644A1 (it) * 2013-07-30 2015-01-31 Arol Spa Macchina per l'applicazione di capsule filettate a contenitori
ITBO20130439A1 (it) * 2013-08-05 2015-02-06 Ima Ind Srl Macchina per confezionare capsule monouso per bevande

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CN113646234A (zh) 2021-11-12
CN113646234B (zh) 2022-11-22
EP3921237A1 (fr) 2021-12-15
IT201900001725A1 (it) 2020-08-06
WO2020161759A1 (fr) 2020-08-13

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