RU2557606C2 - Device and method for filling of containers - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: device for insertion of sheets into conveyor comprises first sheet gripping unit, transfer device with one recess as a seat for said first gripping unit. Sheet transferred by gripping unit uptake gets U-shape at fitting in aforesaid recess. Second gripping finger-shaped unit to be fitted in said recess for gripping U-shape sheet therefrom. Note here that said second unit is a mobile gadget to be fitted in container for sheets. In compliance with this method, sheet is gripped and fitted in intake recess to make said sheet U-shaped. Then, sheet is gripped from said recess and fitted in aforesaid container.

EFFECT: simplified design.

15 cl, 16 dwg

Description

FIELD OF THE INVENTION

The present description is directed to this type of container filling technology that can be used, for example, to insert so-called “surprises” into food products, such as chocolate eggs and the like.

However, reference to this possible field of application should not be construed as limiting as to the scope of the description.

Description of the Related Art

Shell containers comprising the first and second vat-like half-shells, which are to be interconnected with the frontal connection of the respective portions of the inlet openings, are known due to the large number of embodiments documented by a variety of patent literature, including, for example, documents WO-A-2005 / 044677, WO-A-2005/110880 and WO-A-2007/074355. In particular, containers of this type are known in versions in which the first and second half-shells are objects that are separate from each other, as well as in versions in which the first and second half-shells are pivotally connected to each other to form a single object.

The main objective of facilitating the use of such containers, in particular regarding filling and closing operations, has already been considered.

Documents EP-A-0631932, EP-A-0631933 and EP-A-0631934 show improvements in this direction.

When performing the above-mentioned filling and closing operations, it should be taken into account that sheet elements can be inserted into the container, for example:

- a sheet containing instructions for assembling a toy or an entertaining object representing a “surprise”,

- "surprise" or parts thereof, and

- various decorative elements, possibly with a self-adhesive surface.

There are devices similar to those described in EP-A-0751070, which allows you to twist such a sheet and insert it into the main part of the container. This type of solution is suitable for use when the sheet is a simple strip shape.

However, there are applications in which the sheet must carry a significant amount of information / graphics /, in which case a simple strip is not enough, and the use of a larger folded sheet is required.

Although automated solutions are available, similar to those described in the previously mentioned documents, so far most common solutions using the aforementioned shell containers provide that both filling operations, including inserting instructions sheet and final closing, are performed manually.

More specifically, the present invention relates to a device according to the restrictive part of claim 1, which is known, for example, from EP 0611699 A.

OBJECT AND SUMMARY OF THE INVENTION

The use of manual operations in the previously stated context at the moment should be considered unsatisfactory.

Thus, there is a need to replace manual operations with operations that allow full automation, also concerning the insertion of sheets of instructions or flat strips, possibly with a self-adhesive base, obtained from strips cut into a line from a roll.

The aim of the present invention is to provide a response to the above requests.

According to the present invention, this problem is solved thanks to the device having the distinctive features in question, in particular in claim 1.

The invention also relates to the corresponding method, which is described in paragraph 13 of the claims.

The claims form an integral part of the technical disclosure provided in the materials of this application in relation to the invention.

Brief description of the attached figures

The invention will now be described solely as a non-limiting example, referring to the accompanying figures, representing the structure and successive stages of work for embodiments.

In particular:

- in FIG. 1-3 illustrates an operation to capture sheet elements,

- in FIG. 4-8 and in FIG. 9-11, various operations for manipulating such sheet elements are illustrated, and

- in FIG. 12-16 illustrate the insertion of such elements into respective containers.

Detailed description

Demonstrated in the following description are various specific details aimed at providing a thorough understanding of the embodiments. Embodiments may be obtained without one or more specific details or by other methods, components, materials, etc. In other instances, well-known structures, materials or operations are not shown or described in detail in order to avoid unnecessary information in various aspects of the embodiments.

A reference to an “embodiment” in this description indicates that a particular configuration, structure or characteristic described with respect to an embodiment is included in at least one embodiment. Therefore, expressions, for example, “in an embodiment”, possibly present in various parts of this description, do not necessarily refer to one embodiment. Moreover, specific configurations, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

References in the materials of this application are used only to assist the reader, and, thus, they do not determine the scope of protection or the range of embodiments.

The present detailed description refers to embodiments of a device that should be used to insert sheet elements, for example, “sheets” F (as described in more detail below) into shell containers C of the type referred to below as the “cylinder”.

In the examples discussed in the materials of this application (see, in particular, FIGS. 12-14), in the shell container C, two tubular half-shells C1 and C2 and the end portions of the covers can be distinguished. Hereinafter, these half-shells will be referred to for brevity as the "main part" (half-shell C1) and the "cover" (half-shell C2).

This difference is used solely for ease of description. In the case of cylinder C illustrated in the materials of this application, the main part C1 is a covering surface (the term “covering surface” is used in the materials of this application to indicate a side surface adjacent to the inlet contour of the main part C1), which has a large extent in relation to the covering cover surface C2. In other embodiments, the implementation of the affected aspect ratios can, of course, be reviewed in different ways (for example, with two covering surfaces identical to each other). You should also take into account the fact that the container C may have a shape different from the shape illustrated in the materials of this application, for example, an oval shape (or spindle-shaped), a spherical shape, a prismatic shape, a cylindrical shape, etc.

In addition, in the examples presented in the materials of this application, the main part C1 and the cover C2 are connected to each other by a flexible structure C3 serving as a hinge. The hinge C3 is also suitable for being produced according to various methods, which are presented in various documents already mentioned in the introduction of the present description.

The presence of the hinge assembly C3, although possible, does not constitute a mandatory element with respect to the implementation of the embodiments.

Exemplary embodiments, which should be taken as examples, refer to solutions in which sheet elements or sheets F are intended to be inserted into respective containers C, parallel to N (in this example, N = 5, but in reality N can take any value 1 , ... N) containers C located in the support block 1200, and, in particular, the main parts C1 of N containers are inserted into the corresponding N recesses provided for in block 1200.

Considering further the elements of F (and also referring to what was mentioned earlier in the introduction of the present description), the illustrated examples refer to leaf elements, in general, having an oblong shape, for which a larger or a maximum size can be distinguished. By way of example, the images attached to the materials of this application relate to sheets obtained as a result of the initial folding of the sheet and subsequent folding or, as presented separately on the left in FIG. 1, as a result of folding in a zigzag (i.e. folding with an accordion or follows) a strip on which, for example, information or instructions relating to an object (for example, regarding a "surprise" intended to be inserted into container C, assembled or which must be assembled).

In the examples discussed in the materials of this application, the sheet elements or "sheets" F have a sheet structure, provided that they can be formed by one or more sheets in a flat state, representing, for example, a shape (the list below should not be considered exclusive):

- simple stripes or sheets, for example, the shape of a square or rectangular label,

- elements made of multilayer sheets, for example, transfer paper, superimposed on the corresponding base sheet, made of a material with little adhesive ability,

- zigzag bent strips, as shown on the left side of FIG. 1, to obtain a multilayer sheet structure,

- sheets folded by one or more successive folding operations to obtain a flat base with a sheet structure comprising several layers made of sheets superimposed as a result of folding, or

- flat strips, forming, for example, components of a "surprise" or its decoration, made of paper or plastic, for example, obtained from a roll that is cut in a line.

Various embodiments show the ability to process all these different types of elements F in a non-standard way, while guaranteeing the achievement of the desired final result, i.e. insert into container C when folded (see FIG. 13).

In FIG. Figure 1-3 shows the case when the elements of F can be provided (acting according to well-known criteria, for example, placing them in distribution sections, which must be periodically replenished by the operator or automatically) in the form of an array of consecutive rows of elements F arranged in lines, one after the other the other (for example, in a relatively lying state between subsequent elements F in the same row in order to avoid unwanted unfolding).

In the examples discussed in the materials of this application (see Fig. 12-14), it is assumed that the elements F should be inserted in parallel in N = 5 containers C carried by the block 1200. Therefore, it is assumed that the capture operation affects, starting from the configuration illustrated in FIG. 1, 5 items at a time. However, this option is provided as an example in that the number of elements F suitable for simultaneous “processing” can vary in an atypical way.

Regarding this, the fact that in FIG. 1-3 dashed lines represent another possible number of rows of elements F, is aimed at emphasizing the possibility of providing several designs for elements F, different from each other. Such a differentiation of the capture operation with respect to the elements F captured periodically is carried out in order to load into the groups of containers C processed sequentially the groups of elements F that are different from each other without modifying other methods of processing the elements F.

In the case of generally elongated elements F, i.e. for which a larger or maximum size can usually be identified, side-by-side arrangement (as illustrated in FIGS. 1-3) can be provided to minimize the overall size, i.e. placing in rows of elements F side by side in the direction corresponding to their smaller or minimum size. In the embodiments illustrated in FIG. 1-3, it is assumed that the elements F are generally rectangular, and that they are oriented in a gripping configuration that allows adjacent rows to include elements F arranged “vertically” to reduce the overall size.

In FIG. 2 and 3, reference 10 is used to indicate a gripping device, for example, the “arm” of an anthropomorphic robot, not fully visible in the image, but of a known type equipped with a plurality of vacuum gripping units 12 (for brevity of “suction cups”) located side by side, the number of which corresponds to the number N of elements F intended to be captured at a time.

This type of vacuum gripping devices "hands", considered in the materials of this application, is known in the art, as confirmed, for example, by documents EP-A-0239547, EP-A-0989080, EP-A-0968940, EP-A-0768254 or US-A-4932180. In particular, the operation of the robot carrying the arm 10 (included in the arm control) can be activated by a processing unit K, for example, a personal computer for industrial purposes, which also controls (according to essentially known criteria) the operation of various other movable elements and / or manipulation / processing nodes described later.

In the sequence of FIG. 2 and 3 show that a robot equipped with a hand 10 can be actuated (also according to the known criteria also illustrated in the aforementioned document) so as to advance the “hand” 10 forward towards the array of elements F (Fig. 2), allowing the vacuum pickup unit 12 to act on the corresponding element F with a "vacuum" pickup action (i.e., the "suction device effect") so that when the robot removes the arm 10, each pickup unit 12 therefore transfers the element F in a flat state in order to to move it to further processing operations, carrying out the main movement of the movement, represented by arrow B in FIG. 3.

During such movement, the gripping arm 10 can be brought in such a way that it passes in front of the viewing unit, for example, in front of the camera 14. The camera monitors the array of elements F transported by the gripping arm 10 and detects possible violations, for example, the absence of one or more elements F of the captured array, i.e. incorrect positioning of one or more elements F.

Work to detect possible violations is performed based on the output signals from the node 14 (usually the camera) by the processing unit K.

If there is a violation in the previously detected array of elements F based on the signal provided by the camera 14, the block K can send a command to the robot, for example, to allow the detection unit 12 of the hand 10 to stop functioning, to reset the previously captured elements F with the detected deviation to the lower assembly container, preventing them from moving forward towards further processing operations. In this case, the robot is able to return to its working position to continue detecting a new array of elements F.

In various embodiments, there is an option to deactivate solely vacuum pickup units 12, where the element F has not been gripped or misplaced.

When the robot removes the arm 10, each gripping unit 12 carries its element F in a flat state in order to be able to move it to further processing operations, while carrying out the main movement movement, represented by arrow B in FIG. 3. For example, if the work of capturing the elements F was at least partially successful, the hand 10 with the elements F held by the gripping nodes 12 in a flat state is directed forward towards the receiving node 16 (Fig. 4), including in the embodiment, illustrated in the materials of this application, the support block 160, on which are mounted many of the receiving structures 162, which in the embodiment illustrated in the figures are generally fork-shaped (U-shaped) with a concave cavity 164.

Structures 162 are placed in a linear array including N elements. In the example illustrated in the materials of this application, N = 5, while also taking into account the fact that at least in these conditions of use (for example, when there is a specified action that deactivates only the vacuum gripping unit 12, in which the element F does not was captured or it is located incorrectly) not all receiving structures 162 can be intentionally used at the same time.

When the hand 10 faces the assembly 16 to insert the member F into it, the concave portions 164 of the receiving structure 162 are aligned so as to jointly define a groove or channel.

As illustrated by the sequence of FIG. 4 and 5, the robot then lowers the hand 10 towards the node 16 so that the elements F carried by the gripping nodes 12 are inserted into the concave sections 164 of the receiving structures 162 and take the corresponding U-shape, which determines the (first) operation folding elements F.

After fulfilling this condition (Fig. 5), block K can act on a robot that moved elements F to this point in time, determining the actions:

- deactivation of the gripping nodes 12 of the arm 10, which interrupts the action of capturing the elements F, leaving them in the receiving structures 162, and

- subsequent raising of the arm 10 (see FIG. 6), which, thus, can be returned by the robot to its initial state for gripping, indicated by FIG. 2.

However, it should be noted that when using receiving structures 162, the selection of a concave or fork-like configuration is not necessary. Without prejudice to allowing the elements F captured in a flat state to take a U-shape as a result of insertion into said cavity 164, the receiving cavity 164 may, for example, be in the form of cylindrical cavities with an open bottom.

In the embodiment illustrated in the figures, in the depressions 164 there are also provided for the end openings 163 adapted to selectively connect as a result of the command generated by the block K to a reduced pressure source (for example, one of which can be connected to the gripping nodes 12), so that exert a grip action on the elements F inserted into the depressions 164.

In this case, based on the fulfillment of the condition of FIG. 5, block K can act on a robot that has moved elements F up to this time, determining coordinated actions:

- decoding the gripping nodes 12 of the arm 10, which interrupts their action of capturing the elements F, and

- activating holes 163 that hold the elements F in the receiving structures 162.

Also in this case, block K can cause the arm 10 to rise, which can thus be returned by the robot to its initial state for gripping, indicated by FIG. 2.

In FIG. 2 separately, the dashed line shows the possibility that the hand 10 can carry several arrays of gripping nodes. For example, in FIG. 2 shows that, in addition to the (first) array of gripping nodes 12, the hand 10 can carry at least one second array of gripping nodes 120. For example, each gripping assembly 120 (it can again be a vacuum gripping assembly) can be mounted on the far the end of the console 122, which extends from the main part of the arm 10. To some extent this represents a situation in which two arrays of gripping nodes 12 and 120 (including an example with the same number of nodes, according to which each node 12 corresponds to green 120) are located at the ends of two branches of an ideal L-shaped configuration.

In FIG. 2 shows that it is thus possible to provide, for example, one or more rolls B, each of which is automatically unwound and cut (in 124) to form flat strips F 'adapted to form, for example, a part of a “surprise” or , possibly, a decorative part on a self-adhesive basis.

Such flat members F 'can be gripped by the gripping units 120 and inserted into the structure 162 according to the methods described previously, referring to FIG. 1-6 regarding flat members F and gripping units 12.

In various embodiments, the block K can, for example, be programmed (according to essentially known criteria) to allow the hand 10 to be grasped and, alternatively, inserted into the receiving structures 162 according to needs that change over time:

- elements F captured by nodes 12, or

- elements F 'captured by nodes 120.

In various embodiments, block K may, for example, be programmed (again, essentially based on known criteria) to allow:

- hand 10 to capture, using nodes 12, the elements F, inserting them into the receiving structure 162, through the first movement, and

- the hand 10 to capture, using nodes 120, the elements F ', inserting them into the elements F, previously inserted into the receiving structure 162, thus, imposing the elements F and F', through the second movement.

Otherwise, the working method (including the possibility of dumping elements considered to be incorrectly located) can be carried out according to essentially identical criteria.

In the embodiment related to FIG. 7, the receiving structures 162 are mounted on the main body 160 rotatably by 90 ° with respect to their main axis X162.

Such rotation can be activated by block K, which acts on the respective actuators 166 (only one of which is schematically indicated by the dashed line in FIG. 7) so as to allow the concave portions 164 to first determine the overall channel structure with respect to each other, FIG. 4-6, and then rotate 90 ° by turning the structure 162 around the corresponding main axes X162 and orienting it to a location exactly orthogonal to the one in which they were previously. All this allows the depressions 164 and the elements F that are in them to form a series of elements located side by side in a configuration, in general, similar to (see Fig. 7) a medieval wall with battlements or loopholes, while the element F actually limits the depression or an empty space between adjacent teeth.

In FIG. 8 shows the fact that the rotation ability of a group of receiving structures 162 on the support block 160 of the receiving node 16 is not a mandatory characteristic. The receiving unit 16 may actually also be in the form of a comb unit (see FIG. 8) having a stationary “toothed” or comb configuration similar to that illustrated in FIG. 7 and acquired after rotation of structures 162.

Regardless of the structure of the receiving unit 16, as schematically illustrated in FIG. 9, the elements F (and / or F ') received in the depressions 164 of the receiving structures 162 and bent according to the generally U-shaped configuration can be moved by the “arm” 20 of an additional gripping unit (it can also be an anthropomorphic robot of a known type, not fully visible in the figures) controlled by block K.

The arm 20 applies a plurality of gripping assemblies 200 in the form of straight fingers placed side by side, which extend from the main part of the arm 20, being placed adjacent to each other according to the configuration of the fork. As schematically illustrated in FIG. 10, the arm 20 can be actuated (by the K node) in such a way that the gripping fingers 200 can penetrate into the depressions 164 of the receiving structures 162 by moving in the transverse direction with respect to their length, with each end being inserted into the loop part of the corresponding element F.

In various embodiments, the gripping fingers 200 may have gripping nodes at their distal ends that are designed to “hold” U-shaped folded elements F (and / or F ') that are located in troughs 164.

For example, in FIG. 9 illustrates the fact that, in various embodiments, the fingers 200 may have openings 204 also designed to connect in the same way as for the vacuum gripping units 12 (and 120) of the arm described previously with a lower than atmospheric pressure source (not shown in drawings), again, to provide for a vacuum action of capture / fixation.

In various embodiments, in particular when it is necessary to grip two superimposed U-shaped members F and F 'located in the depressions 164, a retainer structure 204' may be provided at the far ends of the fingers 200 (one of which is schematically illustrated by a dotted line in FIG. .12), capable of fixing and "holding" a pair of U-shaped folded elements F and F 'located in the depressions 164, functioning at their borders, slightly protruding from the recesses 164.

Block K works in such a way that as soon as the fingers 200 are inserted into the hollows of the structures 162 (see the sequence of FIGS. 9 and 10), the gripping nodes 204 and 204 'are activated so as to hold the elements F (and / or F').

At this stage, block K can actuate a robot carrying arm 20 so as to raise arm 20, removing it from node 16 (see FIG. 11), whereby the gripping fingers 200 of arm 20 can also carry elements F (and / or F ').

At this stage, a conversion is available for node 16 (if it is necessary to return the receiving structures 162 to the initial state shown in Fig. 4 after rotation) so as to be able to receive the following elements F (and / or F '), meanwhile captured by hand 10 from the supplying array according to the methods illustrated previously, referring to FIG. 1-3.

As illustrated in FIG. 12, arm 20 with elements F (and / or F ': for simplicity in the following description, reference will only be made to elements F), trapped in the depressions 164 of node 16, moves forward towards the corresponding array of containers C.

The fingers 200 of the arm 20, which carry the elements F at their distal ends, can thus penetrate into the cavities of the main parts C1 of the containers C, inserting into each one of them the corresponding element F in the folded state.

All this ensures that due to the folded state acquired earlier, the elements F do not constitute an obstacle for additional filling of the main parts C1 with additional elements of the entertainment product (the so-called “surprise”) intended for insertion into the container C.

The sequence for inserting the elements F into containers C (for simplicity, clarity and clarity in FIGS. 13 and 14, the sequence is illustrated, referring only to the finger 200 carrying the corresponding element F) is provided for:

- penetration of fingers 200 carrying elements F at their distal end, in the cavity of the main parts C1 of containers C, and

- deactivating the gripping nodes 204 or 204 'to allow fingers 200 to release elements F; the latter, therefore, remain in the containers C when the hand 20 returns, moving away from the block 1200, where the containers contain the elements F inserted into them.

As seen in FIG. 12 and 14, in order to facilitate the operation of inserting the fingers 200 and the elements F carried by them into the containers C, the block 1200 into which the main parts C1 are inserted (in the corresponding cavities 140) can be tilted forward (by an angle β - see Fig. 12) in the direction of the arm 20 carrying the fingers 200. Such a forward inclination, which may also be a horizontal inclination, facilitates movement for introducing the fingers 200 into the containers C.

The elements F could be endowed with elastic memory to some extent, whereby after being released from the fingers 200 in the cavity of the containers C, they tend to at least partially “expand”, i.e. deviate in relation to the U-shaped configuration attached to them as a result of insertion into the troughs 164 of the receiving structures 162.

Expanding in containers C, elements F leave more space available for insertion, for example, surprise or surprise components intended to be inserted into container C. The latter are inserted into containers C in subsequent processing operations performed in a known manner and not representing the specific purpose of the present description.

The expansion phenomenon mentioned above can be positively emphasized by providing an additional processing device 300 (FIGS. 15 and 16), including a structure 302 suitable for selective lowering (under the influence of a known type of actuators not shown in the drawings) towards containers C to insert buffers 304 carried on the bottom of the structure 302. In various embodiments, the buffers 304 are connected to one of several pressure lines 306 so that they can be inflated.

After actuating the downward movements of structure 302 (see the sequence of FIGS. 15 and 16), block K also powers the buffers 304 that inflate, and when inserted into the cavities of individual containers C expand, pushing elements F (and / or F ' ) towards the peripheral wall of the container C.

The possible use of buffers 304, which are lowered into containers C with elements F (and / or F '), may have the effect of additional pushing elements F (and / or F') into containers C, preventing such elements from protruding excessively upward beyond the edge of the container inlet , which may interfere with the insertion of additional elements (for example, "surprises", possibly made of several parts) in containers C.

In conclusion, it should be noted that the reference to the “arms” 10 and 20, equipped with gripping nodes of a pneumatic type, in particular a vacuum type (suction cups 12, holes 204), is made strictly for purposes of explanation by example. Such capture operations can actually be performed using equivalent nodes, for example, a holding device.

Obviously, without prejudice to the principle of the invention, solely as a non-limiting example, the details and embodiments may also vary substantially with respect to those described in the materials of this application without departing from the scope of the invention as defined by the appended claims.

Claims (15)

1. A device for inserting sheet elements (F; F ') into a container (C), comprising at least one first gripping unit (12; 120) for gripping at least one sheet element (F; F') in a flat state, characterized in that it includes:
- a transmission device (16) comprising at least one receiving cavity (164) for receiving said at least one first gripping unit (12; 120) inserted into it, whereby a sheet element (F; F ') carried by said at least one first gripping unit (12; 120) in a flat state, assumes a U-shape as a result of insertion into said receiving cavity (164), and
at least one second gripping unit (200) with a finger shape for insertion into said receiving cavity (164) for gripping from said receiving cavity (164) of at least one sheet element (F; F ') with said U-shape wherein at least one second gripping unit (200) is also mobile for insertion into said container (C) to insert said sheet element (F; F ') into said container (C). 2. The device according to claim 1, in which the aforementioned receiving cavity (164) is selectively rotated between:
- a first angular position for receiving said at least one first gripping unit (12; 120) inserted into it, and
- a second angular position for inserting said at least one second gripping unit (200) into said receiving recess (164). 3. The device according to claim 2, wherein said first angular position and said second angular position are 90 ° apart. 4. The device according to claim 1, comprising a plurality of said receiving troughs (164) oriented or adapted to orient side by side to jointly determine a dentate or loophole arrangement. 5. The device according to claim 1, in which a holding means, preferably a vacuum holding means (163), is connected to said at least one receiving cavity (164) for holding a U-shaped sheet in said at least one receiving cavity (164). element (F; F '). 6. The device according to claim 1, in which at least one of said at least one first gripping unit (12; 120) and said at least one second gripping unit (200) is a vacuum gripping device. 7. The device according to claim 1, in which at least one, and preferably both, of said at least one first gripping unit (12; 120) and said at least one second gripping unit (200) are carried by a manipulator, for example a robot. 8. The device according to claim 1, comprising a support element (1200) for receiving said container (C), said element (1200) being selectively tilted (β) towards said at least one second gripping unit (200) to facilitate inserting said at least one second gripping unit (200) into said container (C). 9. The device according to claim 1, in which a viewing unit (14) is connected to said at least one first gripping unit (12; 120) to detect the correct capture of said at least one sheet element (F; F ') by said at least at least one first gripping unit (12; 120), wherein at least one first gripping unit (12; 120) is actuated (K) to release the sheet element (F; F ') captured by the method detected by said viewing unit ( 14) as untrue. 10. The device according to claim 1, comprising a dispenser (300) for said at least one sheet element (F; F '), comprising at least one buffer (304), preferably an expandable type (306), for insertion into the sheet element (F; F ') after insertion into said container (C) for fitting said sheet element (F; F') with respect to the wall of said container (C). 11. The device according to any one of the preceding paragraphs, configured to insert a plurality of sheet elements (F; F ') into respective containers (C) and including respective sets of said first gripping units (12), said receiving troughs (164) and said second gripping units (200). 12. The device according to claim 1, wherein said at least one first gripping unit includes two gripping units (12; 120) located at the ends of two branches of an L-shaped configuration. 13. A method of inserting sheet elements (F; F ') into a container (C), comprising gripping (12, 120) at least one sheet element (F; F') in a flat state, characterized in that it includes:
- inserting said at least one sheet element (F; F ') in a flat state into the receiving cavity (164), whereby said at least one sheet element (F; F') takes a U-shape as a result of insertion into said receiving cavity (164),
gripping (200) of said sheet element (F; F ') from said receiving cavity (164), and
an insert into said container (C) of said sheet element (F; F ') captured from said receiving cavity (164). 14. The method according to item 13, comprising holding in the said receiving cavity (164), preferably by vacuum holding means (163), a sheet element (F; F ') with said U-shape. 15. The method according to item 13, in which said at least one first gripping unit includes two gripping nodes (12; 120) located at the ends of two branches of the L-shaped configuration, and the method includes gripping said at least one sheet an element in a planar state, alternatively, one (12) or another (120) of said gripping elements (12, 120).

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