EP3988457A1 - 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 device (16), with a filling station (26) for simultaneously filling the Packs (14) in a row, with at least one weighing station (28) for weighing a row of packs (14), with a first gripping device (18) for the simultaneous removal of a row of packs (14) to be filled and for transferring these packs (14) to a first weighing station (28a) of the at least one weighing station (28) and for transferring the weighed container (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 transferring these containers (14) to the first weighing station (28a) or to a second weighing station ( 28b) the at least one weighing station (28) and for transferring the row of filled and twice weighed containers (14) from the at least one weighing station (28) back to the nest (12) or another nest (12', 12").

Description

The present invention relates to a device for filling nested containers, with the containers being arranged in at least one row in a nest and being conveyable by means of a conveyor device, with a filling station for simultaneously filling the containers in a row, with at least one weighing station for weighing a row of the Packs, with a first gripping device for the simultaneous removal of a row of packs to be filled and for transferring these packs to a first weighing station of the at least one weighing station and for transferring the weighed packs from the at least one weighing station back into the nest from which the first Gripping device has removed the row of containers to be filled, 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, cylinder ampoules, etc.

The conveying device preferably defines a transport direction, in which case “in front of” or “behind” or “after” is to be understood in relation to this transport direction.

Such a device for filling is preferably arranged within a production line, with the containers being prepared for filling in one or more previous steps, i.e. for example unpacked and arranged in nests and/or sterilized and/or heated or cooled in order to fill the containers not to affect the filling product. A device for closing the filled container is preferably connected downstream of the device for filling in the direction of transport. The bundles can then be packed individually or in groups, preferably sterile, for onward transport to an end user.

Such a device is for example from the document DE 103 45 338 B4 known, with a transport system transporting the nested containers in cycles, with a gripping device removing a row of containers to be filled from a nest and transferring them to a weighing station, with the gripping device transferring the weighed containers to a filling station after weighing, with this row then being filled. After filling, the gripping device transfers this row to the same weighing station a second time, whereby the row of filled containers is weighed again and their net content is thereby determined, and the filled row is put back into the nest and is let out when filling the nest, by one to avoid double filling.

In the case of pharmaceutical products in particular, it is relevant to know the exact filling level of the container, since an incorrectly filled container can result in either underdosing or overdosing of a product contained in the container. On the one hand, this can lead to significant damage to health and, on the other hand, especially in the case of underdosing, lead to the effectiveness of the product is significantly restricted. In the case of cosmetic products, too, it is important to have a high degree of fill level accuracy in the container in order to sell the correct quantity of expensive cosmetic products.

It is therefore of particular interest to check the fill level or the correct operation of a filling device and to readjust it if necessary.

It is known here to weigh some of the containers before and after the filling process and to use this to determine the net content of the individual containers.

It is particularly preferred here if this control can be carried out during the ongoing filling process. In the state of the art, this measurement often leads to delays in the filling process, since it takes a certain amount of time to determine the net content of the container.

According to the teaching of the above publication, the filling process must be at least partially interrupted in order to remove the row of packs, weigh them, feed them to the filling station and fill them, weigh them again and put them back in the nest.

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

Furthermore, the filling process of the checked containers differs from the filling process of the other containers. It is therefore not possible to really check the filling process as it is carried out in normal operation. In the worst case, incorrect alignment of the filling station with a row of a nest to be filled can result in the product being poured off the line. Such an error cannot be detected with the above method.

From the DE 10 2004 035 061 A1 discloses a device for dosed filling of vessels located in groups in receptacles on a carrier plate, which has a weighing device for checking the dosing results of a dosing device, wherein the weighing device has a lifting mechanism for lifting at least one of the vessels from a seat of the carrier plate, wherein the weighing device has a lifting mechanism so that the individual vessels only have to be lifted out of the nest in order to be weighed.

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

From the document EP 2 570 350 A1 a method is known for filling and sealing pharmaceutical objects arranged in parallel rows in nests. The objects are removed from the nests at an entrance of a conveyor device in a removal station and introduced into the conveyor device, by means of the conveyor device the objects are successively fed along a straight section of the transport route 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 for filling containers with a liquid is proposed. The filling machine comprises: a handling device, a weighing device, a first filling device and a second filling device, the first filling device being 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 handling device contained is set up 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 put them back into the nest.

The containers are filled during weighing, which results in complicated control of the filling system and long processing times.

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, with at least one drive surface and at least one mover that can be coupled to the drive surface being provided, with the mover on the Drive surface is arranged to be displaceable and/or rotatable in at least two degrees of freedom and the receptacle holder is arranged on the mover.

In this case, a mover is provided for transporting the containers, as a result of which the filling system is complicated in terms of structure and control and is expensive

It is therefore an object of the present invention to specify an improved device and an improved method for filling nested containers which, in particular, enable the fill level of the containers to be checked in-process.

A device is therefore provided for filling nested containers, with the containers being arranged in at least one row in a nest and being conveyable by means of a conveyor device, with a filling station for simultaneously filling the containers in a row, with at least one weighing station for weighing a row of the containers , with a first gripping device for the simultaneous removal of a row of packs to be filled and for transferring these packs to a first weighing station of the at least one weighing station and for transferring the weighed packs from the at least one weighing station back into the nest back into the nest from which the first gripping device has removed the row of containers to be filled, or back into a subsequent nest, with a second gripping device for the simultaneous removal of a row of filled and weighed containers and for transferring this row of containers to the first weighing station or to a second weighing station of at least e inen weighing station and for transferring the row of filled and twice weighed containers from the at least one weighing station back to the nest from which the second gripping device has removed the row of filled packs, 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 also achieved by a method for filling nested containers, with the steps:

• removing a row of containers to be filled from a nest by means of a first gripping device,
• Weighing the individual containers when empty,
• Putting the empty packs back into the nest from which the first gripping device took the row of packs to be filled, or into a subsequent nest,
• preferably simultaneous filling of the weighed containers,
• removing the filled containers from the nest using a second gripping device,
• re-weighing the individually weighed and filled containers, and
• Putting the filled containers back into the nest or into a subsequent nest after the second weighing.

The device and the method make it possible to carry out an in-process control without interfering with the ongoing operation. The filling system preferably continues to run at normal speed. In addition, it is possible to monitor the filling process exactly as it is carried out during operation. It is possible to process all packs with the same time sequence, regardless of the arrangement of the packs, in particular regardless of the number of rows of packs in a nest or the number of packs in a row. With the testing of an entire row, a complete filling cycle can also be tested. This also prevents the filling points from influencing each other.

According to the present invention, at least 6% and in particular at least 10% of the packs can be checked in this way, but it is also conceivable to check more, all or fewer packs.

The task is thus completely solved.

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

The first and/or the second gripping device can be designed according to the container to be weighed. It is conceivable that the first and/or the second gripping device has a lifting device that lifts the containers that protrude from the bottom of the nests, so that the gripping device can grip the raised containers, preferably by means of gripping tongs.

In the case of correspondingly shaped containers, in particular containers with a radially further outward upper end or cylindrically shaped containers with a sufficiently large distance between the individual containers, it is possible to dispense with lifting the containers beforehand and to grip the containers directly.

It is also conceivable to provide a gripping device with suction cups, with the suction cups being able to be arranged on a smooth surface of the container in order to temporarily fix the container on the gripping device by means of negative pressure.

In the present case, a transport device is understood to mean any possible type of device that is suitable for transporting nested containers. It is conceivable that clusters of containers lie on two parallel conveyor rails and are thus conveyed. It is also conceivable to use the nests in a rail provided for this purpose, or to accommodate 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 conveyor belts.

In the present context, a nest is to be understood as meaning any type of device or arrangement that is suitable for combining a number of bundles. The containers are preferably arranged in several rows. A row can consist of at least two bundles.

A weighing station according to the present invention can be any type of weighing device that makes it possible to weigh several packages individually and essentially in parallel.

According to one embodiment, the filling device has a control unit that 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 packs in a nest. This enables a high quality standard to be achieved. In particular, at least 10% or exactly 10% of the containers in a nest can be weighed. An example list of different nest configurations can be found in the following table. bundles per nest number per row Proportion of a row of total bundles of a nest [%] 160 16 10 10 6.25 100 10 10 64 8th 12.5 48 8th 16.67 6 12.5 ... ... ...

A row of bundles preferably has exactly 6.25%, 10%, 12.5% or 16.67% of the bundles of a nest. Consequently, exactly 6.25%, 10%, 12.5% or 16.67% of the packs in a nest can be grasped and weighed using the gripping devices.

More preferably, a row has exactly 10 packs, with the first gripping device and/or the second gripping device being designed to grip 10 packs at the same time. As a result, the speed of the filling system can be further improved

In systems of this type, deviations in the filling behavior from one filling process to the next are usually very small or non-existent, so that correct functioning of the filling device can be checked or verified with high reliability by checking at least 6% and in particular at least 10% of the containers.

In one configuration of the filling device, it can be provided that the filling station has a plurality of filling points perpendicular to a conveying direction of the nested packs, the number of packs in a row corresponding 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 in such a way that they each grip the entire row of packs at the same time.

With the testing of an entire row, a complete filling cycle can also be tested. This also prevents the filling points from influencing each other.

In one configuration of the filling device, it can also be provided that the row of nested containers extends perpendicularly to a conveying direction of the nest.

The first gripping device is preferably designed in such a way that it can put the container back into or into the nest before or at the filling station. This can ensure that the filling process is not disturbed, so the filling device can continue to run at normal speed regardless of the measurement. Due to the fact that no interruption is necessary for the measurement, the filling device can generally run faster. This enables a consistent processing process, so that greater accuracy can be achieved. In particular, the process times of the system remain essentially the same, so that further process steps such as gassing the containers can be carried out without being affected by the weighing process.

It is also preferred if the second gripping device is designed in such a way that, before the second weighing, it removes the packs from a nest behind the filling station, i.e. preferably between the filling station and a closing station, and after the second weighing, the packs are placed in a nest or behind the nest the filling station and preferably in front of the capping station. This ensures an uninterrupted filling process.

According to a preferred embodiment, the first weighing station and/or the second weighing station have a plurality of weighing cells, the number of weighing cells preferably corresponding at least to the number of containers to be weighed, with the containers being able to be weighed individually at the same time. This enables all containers to be weighed to be weighed quickly, with the speed at which the system runs preferably essentially depending 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 implemented in a structurally simple and cost-efficient manner. In addition, simple control of the first gripping device and/or the second gripping device and short transport times for 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 in such a way that it can remove packs, preferably a whole row of packs, from several, in particular all, positions of the nest and move this or one position to this or another position other Nestes can reset. This enables a very dynamic construction of the system. In particular, the system can continue to be driven during weighing, since the row can also be reset independently of the position of the nest.

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

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, with the filling station being adjusted individually taking into account the determined net content of each container. As a result, an automated readjustment of the filling quantity is possible, which allows the filling device to be adapted and self-corrected without stopping the filling process.

This is particularly advantageous for very critical products that, for example, have to be cooled or filled in a protective atmosphere. Time-consuming manual adjustment of the filling system is not necessary, the system is calibrated after the learning process, i.e. the first determination of the net content.

The terms filling the container and closing the container are to be understood here in such a way that filling or closing including gassing of the container can also be included.

It goes without saying that the features mentioned above and those to be explained below not only in the combination specified in each case, but also can be used in other combinations or on their own 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 shown in the drawing and are explained in more detail in the following description. Show it:

figure 1

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

Figure 2a

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

Figure 2b

a schematic side view of the filling device according to the invention Figure 2a ,

Figure 3a

a schematic plan view of a gripping device,

Figure 3b

a schematic side view of the gripping device Figure 3a ,

figure 4

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

figure 5

an embodiment of a method according to the invention, and

Figure 6a to 6d

a simplified representation of various picking, weighing and resetting steps.

the Fig.1 shows schematically a filling device 10 in a production line for filling nests 12 of containers 14, which for reasons of clarity in 1 are not shown further. The nests 12 are transported in the direction of the arrow by a transport device 16, which is symbolized in simplified form by arrows. The filling device 10 has, shown schematically, a first gripping device 18 and a second gripping device 20, each of which has a swivel arm 22 and gripping tongs 24. Furthermore, the filling device 10 has a filling station 26 and at least one weighing station 28 with weighing cells 30 that are not shown in detail. A closing station 32 for closing the containers 14 is arranged downstream of the filling device 10 in the transport direction, which is preferably followed by a packaging station 34 in which the containers 14 can be removed from the nests 12 and packed in appropriate containers, such as cartons, for onward transport . It goes without saying that the bundles 14 can also remain in the nests 12 and can be packed together with the nests 12 . An upstream device 38 can be provided upstream of the filling device 10 in the transport direction, in which the containers 14 are prepared for filling, i.e., for example, unpacked and arranged in the nests 12 and/or sterilized and/or heated or cooled in order to fill the containers 14 not to affect the product to be filled.

the Figure 2a 12 shows an embodiment of a filling device 10. Nests 12 of containers 14 are fed to the filling device 10 by means of a conveying device or transport device 16. The filling device 10 also has a first gripping device 18 and a second gripping device 20 . The first gripping device 18 and the second gripping device 20 have essentially the same construction, so that only the first gripping device 18 is described in more detail below. The movement radii of the gripping devices are shown schematically as circles.

The first gripping device 18 has a swivel arm 22 on which gripping tongs 24 which can in turn be swiveled are arranged. The first gripping device 18 is arranged in front of a filling station 26 in the conveying direction. A weighing station 28 is arranged in the conveying direction between the first gripping device 18 and the second gripping device 20 . The weighing station 28 has individual weighing cells 30 . The weighing cells 30 can be configured as weighing buckets, for example.

The weighing station 28 is therefore in relation to the conveying direction essentially at the same level as the filling station 26. 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 row of packs 14 from a nest 12 and to transfer them to the weighing station 28, with each weighing cell 30 of the weighing station 28 preferably being assigned a pack 14, so that the packs 14 are weighed essentially in parallel and individually. After weighing, the packs 14 are picked up again by the first gripping device 18 and put back into 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 conveyor or transport device 16 in a conveying direction to the filling station 26, with the filling station 26 being able to fill the containers 14 of a row of containers 14 in parallel and individually. A row of packs extends perpendicularly to the conveying direction. The packs are perpendicular to the conveying direction next to each other in the nest.

The containers 14 are filled at filling points of the filling station 26. The filling points can also be arranged next to one another perpendicular to the conveying direction. 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 with regard to the precise filling process are dispensed with.

After filling, the row of pre-weighed packs 14 can be removed by 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. Here, 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 can be taken into account when controlling the filling station 26 .

The filling device 10 described above is preferably only part of a fully automated system, with devices that are required to load the containers 14 provided in the nests 12 upstream of the filling device 10 and are represented schematically by the symbol with the reference number 38 in the present case.

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

In Figure 3a a gripping device 18, 20 is shown. The gripping device 18, 20 has a pivot arm 22 which is pivotable about a first end 22a, as shown in FIG Figure 3a indicated by an arrow. A pair of gripping tongs 24 is arranged on a second end 22b of the swivel arm 22 opposite the first. This is arranged at the second end 22b of the swivel arm 22 and can be swiveled, as illustrated by an arrow. The gripping tongs have a first clamping strip 24a and a second clamping strip 24b, which can be moved in relation to one another in such a way that they can clamp or release a row of containers 14.

In Figure 3b is a section of the gripping device Figure 3a shown schematically along section B. The gripping tongs 24 are designed in such a way that they can be moved upwards and downwards, i.e. perpendicularly, with respect to the transport direction in order to remove the containers 14 clamped in the first clamping strip 24a and second clamping strip 24b from a nest 12.

In 4 a filling device 10 with subsequent closing station 32 with a closing means station 36 is shown in plan view. The filling device 10 in the 4 essentially corresponds to the filling device 10 of FIG Figure 2a and 2 B , so that the same components are marked with the same reference numbers. The differences will be discussed in more detail below.

The filling device 10 has a first weighing station 28a and a second weighing station 28b. The first gripping device 18 can remove a row 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. After the packs 14 have been weighed, the first gripping device 18 can then remove the row of packs 14 from the first weighing station 28a and put them back into the nest 12 . The nest 12 is then transported further by means of the transport device 16 and fed to the filling station 26, in which the containers 14 of each row are filled individually, with each row being filled in parallel. After filling, the nest 12 is then moved further in the transport direction by means of the transport device 16, with the previously weighed row of containers 14 being able to be removed by the second gripping device 20 and fed to the second weighing station 28b, with the second weighing station 28b carrying the containers 14 weighs individually and in parallel, and the net content of the container 14 can be determined from the empty weight, ie the result of the previous weighing, and the total weight, ie the result of renewed weighing. This net content can then be taken into account in the control of the filling station 26 . In particular, the filling station 26 can be adjusted or readjusted as a result.

After the re-weighing, the second gripping device 20 can remove the row of packs 14 from the second weighing station 28b and put them back into the nest 12. The nest 12 is then moved further in the transport direction by means of the transport device 16 and fed to a closing station 32 in which the containers 14 are preferably closed individually and in parallel. The closing station 32 is provided with closing means by a feed device 36 .

The closed, filled and twice-weighed containers 14 can then first be subjected to an inspection, cooled or kept in quarantine and then labeled and fed to a packaging device, which is not specified in more detail. The bundles 14 are packed in different pack sizes according to an end user and are then ready for onward transport/shipping.

In figure 5 the individual process steps of a process according to the invention are shown schematically. The method can 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 when empty and their empty weight is 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 in the nest 12 are filled by the filling station 26 and then removed from the nest 12 in a step S5 by means of a second gripping device 20. In a subsequent step S6, the simply weighed, filled containers 14 are weighed again and finally, in a step S7, placed back in the nest 12 or in another nest 12'.

In the method, the containers 14 are weighed individually, that is to say the weight of each individual container 14 is determined, with the containers 14 also being weighed essentially at the same time.

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, by weighing the container 14 twice, the net content of the individual container 14 can be determined, with this net content preferably being able to be taken into account when controlling the filling station 26, so that the filling station 26 can be automatically adjusted.

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

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

In Figure 6a a nest 12 with bundles 14 is shown schematically, it being possible for a row of bundles 14 to be removed from the first gripping device 18 . This can be the first row of containers 14, for example, as in 6 represented by a border. It goes without saying that any row can be removed by the gripping device 18 . As described above, this row of containers 14 is clamped by the tongs 24 of the first gripping device 18, lifted out of the nest 12 and transferred to the at least one weighing station 28 and weighed. The weighed containers 14 can then be removed from the at least one weighing station 28 by the first gripping device 18 and placed in the nest 12 or in a subsequent nest 12' as in FIG Figure 6b shown. Then, as described above, the container 14 is filled in the filling station 26, which is not shown in detail.

As in Figure 6c shown, after the containers 14 have been filled, the second gripping device 20 removes a row of already weighed and filled containers 14 from the nest 12 and transfers this row, as described above, to the at least one weighing station 28, with the containers 14 being weighed again and then the second gripping device 20 are transferred back into the nest 12 or into the subsequent nest 12'.

If the first gripping device 18 has transferred the packs 14 to the nest 12' after weighing, the second gripping device 20 removes a row of packs 14 that have already been weighed and filled from the nest 12' and transfers this row back to the nest after weighing 12' or in the next nest 12". This is shown schematically in Figure 6d shown.

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

It goes without saying that configurations are also conceivable in which a row of packs 14 corresponds to less than 10% and in particular less than 6% of the packs 14 in a nest 12, with at least as many rows of packs 14 in a nest 12 before and after are weighed during filling, so that at least the desired proportion of the containers 14 in a nest 12 are weighed before and after filling.

The number of containers 14 removed preferably corresponds to the number of filling points in the filling station 26, so that a complete filling cycle can be checked. Consequently, the influence of filling points on one another can be checked or ruled out.

When the system is started up, each row of a first nest 12 is preferably weighed so that the system can be taught in quickly. The system can be put into operation with little time and loss of product.

Furthermore, when the system runs empty, each row of the last nest 12 and possibly the penultimate nest 12 is preferably weighed so that it can be checked up to which row and in particular up to which container 14 of a row the required fill level is reached. This minimizes the loss of product when the system runs empty.

• Satz 1:Vorrichtung (10) zum Befüllen genesteter Gebinde (14), wobei die Gebinde (14) in mindestens einer Reihe in einem Nest (12) angeordnet sind und mittels einer Fördereinrichtung (16) förderbar sind, mit einer Befüllstation (26) zum gleichzeitigen Befüllen der Gebinde (14) einer Reihe, mit zumindest einer Wiegestation (28) zum Wiegen einer Reihe der Gebinde (14), mit einer ersten Greifeinrichtung (18) zur gleichzeitigen Entnahme einer Reihe zu befüllender Gebinde (14) und zur Übergabe dieser Gebinde (14) an eine erste Wiegestation (28a) der zumindest einen Wiegestation (28) und zur Übergabe der gewogenen Gebinde (14) von der zumindest einen Wiegestation (28) zurück in das Nest (12), aus dem die erste Greifeinrichtung (18) die Reihe zu befüllender Gebinde (14) entnommen hat, oder zurück in ein darauffolgendes Nest (12'), und gekennzeichnet durch eine zweite Greifeinrichtung (20) zur gleichzeitigen Entnahme der Reihe befüllter und gewogener Gebinde (14) und zur Übergabe dieser Gebinde (14) an die erste Wiegestation (28a) oder an eine zweite Wiegestation (28b) der zumindest einen Wiegestation (28) und zur Übergabe der Reihe der befüllten und zweifach gewogenen Gebinde (14) von der zumindest einen Wiegestation (28) zurück in das Nest (12, 12'), aus dem die zweite Greifeinrichtung (20) die Reihe befüllter Gebinde (14) entnommen hat, oder zurück in ein darauffolgendes Nest (12").
• Satz 2:Befüllvorrichtung (10) nach Satz 1, gekennzeichnet durch ein Steuergerät, das die erste Greifeinrichtung (18), die zweite Greifeinrichtung (20) und die zumindest eine Wiegestation (28) steuert, und dazu ausgebildet ist wenigstens 6%, insbesondere genau 10%, der Gebinde (14) eines Nestes (12, 12', 12") zu wiegen.
• Satz 3:Befüllvorrichtung (10) nach Satz 1 oder 2, dadurch gekennzeichnet, dass eine Reihe von Gebinden (14) wenigstens 6%, insbesondere genau 10%, der Gebinde (14) eines Nestes (12, 12', 12") entspricht.
• Satz 4:Befüllvorrichtung (10) nach einem der Sätze 1 bis 3, dadurch gekennzeichnet, dass eine Reihe genau zehn Gebinde (14) aufweist, und dass die erste Greifeinrichtung (18) und/oder die zweite Greifeinrichtung (20) dazu ausgebildet ist gleichzeitig zehn Gebinde (14) zu greifen.
• Satz 5:Befüllvorrichtung (10) nach einem der Sätze 1 bis 4, dadurch gekennzeichnet, dass die Befüllstation (26) eine Mehrzahl von Füllstellen senkrecht zu einer Förderrichtung der genesteten Gebinde (14) aufweist, wobei die Anzahl der Gebinde (14) einer Reihe der Anzahl der Füllstellen der Befüllstation (26) entspricht, insbesondere wobei sowohl die erste Greifeinrichtung als auch die zweite Greifeinrichtung derart ausgebildet sind, dass sie jeweils die gesamte Reihe der Gebinde gleichzeitig ergreifen können.
• Satz 6: Befüllvorrichtung (10) nach einem der Sätze 1 bis 5, dadurch gekennzeichnet, dass sich die Reihe der genesteten Gebinde (14) senkrecht zu einer Förderrichtung des Nestes erstreckt.
• Satz 7: Befüllvorrichtung (10) nach einem der Sätze 1 bis 6, dadurch gekennzeichnet, dass die erste Greifeinrichtung (18) derart ausgebildet ist, dass sie die Gebinde (14) vor oder an der Befüllstation (26) zurücksetzt.
• Satz 8: Befüllvorrichtung (10) nach einem der Sätze 1 bis 7, dadurch gekennzeichnet, dass die zweite Greifeinrichtung (20) derart ausgebildet ist, dass sie vor dem zweiten Wiegen die Gebinde (14) hinter der Befüllstation (26) aus einem Nest (12, 12') entnimmt und die Gebinde (14) hinter der Befüllstation (26) in das Nest (12, 12') oder ein darauffolgendes Nest (12") zurück setzt.
• Satz 9: Befüllvorrichtung (10) nach einem der vorhergehenden Sätze, dadurch gekennzeichnet, dass die erste Wiegestation (28a) und/oder die zweite Wiegestation (28b) der wenigstens einen Wiegestation (28) eine Mehrzahl von Wiegezellen (30) aufweist, wobei die Anzahl der Wiegezellen (30) vorzugsweise wenigstens der Anzahl der zu wiegenden Gebinde (14) entspricht, wobei die Gebinde (14) gleichzeitig einzeln wiegbar sind.
• Satz 10: Befüllvorrichtung (10) nach einem der vorhergehenden Sätze, dadurch gekennzeichnet, dass die erste Greifeinrichtung (18) und/oder die zweite Greifeinrichtung (20) einen wenigstens zweiachsigen Greifer aufweist.
• Satz 11: Befüllvorrichtung (10) nach einem der vorhergehenden Sätze, dadurch gekennzeichnet, dass die erste Greifeinrichtung (18) und/oder die zweite Greifeinrichtung (20) derart ausgebildet ist, dass sie Gebinde (14), vorzugsweise eine Reihe von Gebinden (14), aus mehreren, insbesondere allen, Positionen eines Nestes (12, 12', 12") entnehmen kann und in diese oder eine andere Position dieses Nestes (12, 12', 12") oder eines späteren Nestes (12, 12', 12") zurück setzen kann.
• Satz 12: Befüllvorrichtung (10) nach einem der vorhergehenden Sätze, dadurch gekennzeichnet, dass die erste Greifeinrichtung (18) und/oder die zweite Greifeinrichtung (20) eine Greifzange (24) mit zwei Klemmleisten (24a, 24b) aufweist, um eine Reihe von Gebinde (14) zu klemmen.
• Satz 13: Verfahren zum Befüllen genesteter Gebinde (14), mit den Schritten:
  • Entnehmen (S1) einer Reihe von zu befüllenden Gebinden (14) aus einem Nest (12) mittels einer ersten Greifeinrichtung (18),
  • Wiegen (S2) der einzelnen Gebinde (14) in leerem Zustand,
  • Zurücksetzen (S3) der leeren Gebinde (14) in das Nest (12), aus dem die erste Greifeinrichtung (18) die Reihe zu befüllender Gebinde (14) entnommen hat, oder in ein darauffolgendes Nest (12'),
  • Befüllen (S4) der gewogenen Gebinde (14),
  • Entnehmen (S5) der befüllten Gebinde (14) aus dem Nest (12, 12') mittels einer zweiten Greifeinrichtung (20),
  • erneutes Wiegen (S6) der einzelnen gewogenen und befüllten Gebinde (14), und
  • Zurücksetzen (S7) der befüllten Gebinde (14) nach dem erneuten Wiegen (S6) in das Nest (12, 12'), aus dem die zweite Greifeinrichtung (20) die Reihe zu befüllender Gebinde (14) entnommen hat, oder ein darauffolgendes Nest (12").
• Satz 14: Verfahren nach Satz 13, wobei die Gebinde (14) einzeln und gleichzeitig gewogen werden.
• Satz 15: Verfahren nach Satze 13 oder 14, wobei wenigstens 6%, insbesondere genau 10%, aller Gebinde (14) eines Nestes (12, 12', 12") vor und nach dem Befüllen gewogen werden.
• Satz 16: Verfahren nach einem der Sätze 13 bis 15, wobei aus dem Ergebnis des Wiegens (S2) und dem Ergebnis des erneuten Wiegens (S6) der Nettoinhalt jedes einzelnen Gebindes (14) bestimmt wird.
• Satz 17: Verfahren nach Satz 16, wobei die Füllmenge der Befüllstation (26) unter Berücksichtigung des bestimmten Nettoinhalts jedes Gebindes (14) angepasst wird.

Furthermore, the present disclosure includes embodiments according to the following sentences:

• Set 1: Device (10) for filling nested containers (14), the containers (14) being arranged in at least one row in a nest (12) and being conveyable by means of a conveying device (16), with a filling station (26) for simultaneous filling of the Packs (14) in a row, with at least one weighing station (28) for weighing a row of packs (14), with a first gripping device (18) for the simultaneous removal of a row of packs (14) to be filled and for transferring these packs (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), from which the first gripping device (18) moves the row container (14) to be filled, or back into a subsequent nest (12'), and characterized by a second gripping device (20) for the simultaneous removal of the row of filled and weighed containers (14) and for transferring 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 twice weighed containers (14) from the at least one weighing station (28) back to the nest (12, 12 '), from which the second gripping device (20) has removed the row of filled packs (14), or back into a subsequent nest (12").
• Set 2: Filling device (10) according to Set 1, characterized by a control unit which controls the first gripping device (18), the second gripping device (20) and the at least one weighing station (28), and is designed for this purpose at least 6%, in particular precisely 10% to weigh the bundles (14) of a nest (12, 12', 12").
• Set 3: Filling device (10) according to Set 1 or 2, characterized in that a row of containers (14) corresponds to at least 6%, in particular exactly 10%, of the containers (14) of a nest (12, 12', 12") .
• Set 4: Filling device (10) according to one of sets 1 to 3, characterized in that a row has exactly ten containers (14) and that the first gripping device (18) and/or the second gripping device (20) is designed for this at the same time to grab ten bundles (14).
• Set 5: Filling device (10) according to one of sets 1 to 4, characterized in that the filling station (26) has a plurality of filling points perpendicular to a conveying direction of the nested bundles (14), the number of bundles (14) being one Row corresponds to the number of filling points of the filling station (26), in particular both the first gripping device and the second gripping device are designed in such a way that they can each grip the entire row of containers at the same time.
• Set 6: Filling device (10) according to one of sets 1 to 5, characterized in that the row of nested containers (14) extends perpendicularly to a conveying direction of the nest.
• Set 7: Filling device (10) according to one of sets 1 to 6, characterized in that the first gripping device (18) is designed such that it resets the container (14) in front of or at the filling station (26).
• Set 8: Filling device (10) according to one of sets 1 to 7, characterized in that the second gripping device (20) is designed in such a way that, before the second weighing, the container (14) behind the filling station (26) from a nest ( 12, 12') and puts the container (14) back into the nest (12, 12') or a following nest (12") behind the filling station (26).
• Set 9: Filling device (10) according to one of the preceding sets, characterized in that the first weighing station (28a) and/or the second weighing station (28b) of the at least one weighing station (28) has a plurality of weighing cells (30), the The number of weighing cells (30) preferably corresponds at least to the number of containers (14) to be weighed, the containers (14) being able to be weighed individually at the same time.
• Set 10: Filling device (10) according to one of the preceding sets, characterized in that the first gripping device (18) and/or the second gripping device (20) has an at least two-axis gripper.
• Set 11: Filling device (10) according to one of the preceding sentences, characterized in that the first gripping device (18) and/or the second gripping device (20) is designed in such a way that they pack (14), preferably a row of packs (14 ), from several, in particular all, positions of a nest (12, 12', 12") and can reset to this or another position of this nest (12, 12', 12") or a later nest (12, 12', 12").
• Set 12: Filling device (10) according to one of the preceding sets, characterized in that the first gripping device (18) and/or the second gripping device (20) has gripping tongs (24) with two clamping strips (24a, 24b) in order to of container (14) to clamp.
• Set 13: Method for filling nested containers (14), with the steps:
  • Removal (S1) of a row of containers (14) to be filled from a nest (12) by means of a first gripping device (18),
  • Weighing (S2) the individual containers (14) when empty,
  • Returning (S3) the empty packs (14) to the nest (12) from which the first gripping device (18) has removed the row of packs (14) to be filled, or to a subsequent nest (12'),
  • Filling (S4) the weighed containers (14),
  • Removal (S5) of the filled containers (14) from the nest (12, 12') by means of a second gripping device (20),
  • re-weighing (S6) the individually weighed and filled containers (14), and
  • Resetting (S7) the filled packs (14) after renewed weighing (S6) into the nest (12, 12') from which the second gripping device (20) has removed the row of packs (14) to be filled, or a subsequent nest (12").
• Sentence 14: Method according to sentence 13, wherein the containers (14) are weighed individually and simultaneously.
• Sentence 15: Method according to sentence 13 or 14, wherein at least 6%, in particular exactly 10%, of all containers (14) in a nest (12, 12', 12") are weighed before and after filling.
• Sentence 16: Method according to one of sentences 13 to 15, the net content of each individual container (14) being determined from the result of the weighing (S2) and the result of the renewed weighing (S6).
• Sentence 17: Method according to Sentence 16, the filling quantity of the filling station (26) being adjusted taking into account the determined net content of each container (14).

Claims (15)

Device (10) for filling nested containers (14), the containers (14) being arranged in at least one row in a nest (12) and being conveyable by means of a conveying device (16), with a filling station (26) for simultaneously filling the Packs (14) in a row, with at least one weighing station (28) for weighing a row of packs (14), with a first gripping device (18) for the simultaneous removal of a row of packs (14) to be filled and for transferring these packs (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), from which the first gripping device (18) moves the row container (14) to be filled, or back into a subsequent nest (12'), and characterized by a second gripping device (20) for the simultaneous removal of the row of filled and weighed containers (14) and for the transfer of these containers (14) a n 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) from the at least one weighing station (28) back to the nest (12 , 12') from which the second gripping device (20) has removed the row of filled packs (14), or back into a subsequent nest (12"). Filling device (10) according to Claim 1, characterized by a control unit which controls the first gripping device (18), the second gripping device (20) and the at least one weighing station (28), and is designed for this at least 6%, in particular exactly 10%, of the bundles (14) of a nest (12, 12', 12"). Filling device (10) according to Claim 1 or 2, characterized in that a row of containers (14) corresponds to at least 6%, in particular exactly 10%, of the containers (14) of a nest (12, 12', 12"). Filling device (10) according to one of Claims 1 to 3, characterized in that a row has exactly 10 containers (14) and that the first gripping device (18) and/or the second gripping device (20) is designed to grip 10 bundles (14) at the same time. 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 bundles (14), the number of bundles (14) in a row corresponding to the number of Filling points of the filling station (26), in particular both the first gripping device and the second gripping device are designed in such a way that they can each grip the entire row of containers at the same time. Filling device (10) according to one of Claims 1 to 5, characterized in that the row of nested containers (14) extends perpendicularly 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 in such a way that it resets the container (14) in front of 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 in such a way that, before the second weighing, it removes the container (14) behind the filling station (26) from a nest (12, 12 ') and removes the container (14) behind the filling station (26) in the nest (12, 12') or a subsequent nest (12"). 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) has a plurality of weighing cells (30), the number of weighing cells (30) preferably corresponds at least to the number of containers (14) to be weighed, wherein the containers (14) can be weighed individually at the same time. Filling device (10) according to one of the preceding claims, characterized in that the first gripping device (18) and/or the second gripping device (20) has an at least two-axis gripper. Filling device (10) according to one of the preceding claims, characterized in that the first gripping device (18) and/or the second gripping device (20) is designed in such a way that they pack (14), preferably a row of packs (14), from several, in particular all, positions of a nest (12, 12', 12") and in this or another position of this nest (12, 12', 12") or a later nest (12, 12', 12") can reset. Method for filling nested containers (14), with the steps: - Removal (S1) of a row of containers (14) to be filled from a nest (12) by means of a first gripping device (18), - Weighing (S2) the individual containers (14) when empty, - Resetting (S3) the empty packs (14) into the nest (12) from which the first gripping device (18) has removed the row of packs (14) to be filled, or into a subsequent nest (12'), - Filling (S4) of the weighed containers (14), - removal (S5) of the filled containers (14) from the nest (12, 12') by means of a second gripping device (20), - re-weighing (S6) the individually weighed and filled container (14), and - Resetting (S7) the filled containers (14) after renewed weighing (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 subsequent one Nest (12"). Method according to Claim 12, in which the containers (14) are weighed individually and simultaneously. Method according to Claim 12 or 13, in which at least 6%, in particular exactly 10%, of all the containers (14) in a nest (12, 12', 12") are weighed before and after filling. Method according to one of Claims 13 to 15, the net content of each individual container (14) being determined from the result of the weighing (S2) and the result of the re-weighing (S6), in particular the filling quantity of the filling station (26) taking into account the specific net content of each container (14) is adjusted.

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