WO2024116217A1

WO2024116217A1 - Handling assembly, method and apparatus for packaging articles

Info

Publication number: WO2024116217A1
Application number: PCT/IT2023/050268
Authority: WO
Inventors: Marco Baldini; Federico CARDIN; Jacopo SQUARZANTI; Mattia BERSANETTI; Youness LHALALI
Original assignee: Errelle S.R.L.
Priority date: 2022-12-02
Filing date: 2023-12-01
Publication date: 2024-06-06

Abstract

The handling assembly (100) for packaging articles (2) includes a movable operative head (101); said operative head (101) comprising an elongated casing (110), having a longitudinal axis arranged, in operation, in a substantially vertical direction; said operative head (101) also comprising a gripping member (120) comprising at least a pair of gripping arms (121, 122) opposed to said longitudinal axis of said casing (110); said operative head (101) also comprising means configured to cause the movement of said gripping arms (121, 122) alternatively between a gripping configuration, in which said gripping arms (121, 122) protrude under said casing (110 ) so as to firmly grip and hold said article (2) underneath said casing (110), and a release configuration, in which said gripping arms (121, 122) are completely retracted inside said casing (110 ); said casing (110) forming at the bottom a base portion (104) configured to act as a pusher member, to exert a compressive stress on said article (2) below.

Description

HANDLING ASSEMBLY, METHOD AND APPARATUS FOR PACKAGING ARTICLES

Technical Field

[01] The present invention relates to a handling assembly suitable for use in an automatic machine for packaging articles, in particular articles intended for sale. It is also an object of the invention an apparatus for packaging articles equipped with said handling assembly, as well as a method for packaging articles intended for sale by means of said apparatus.

Prior art

[02] It is known that various items intended for sale are enclosed in containers, for example of the box type. These containers are wrapped externally in casings that are formed by cutting and folding a sheet material, for example made of cardboard.

[03] The cardboard wrapper wrapped around the box containing the article has the function of attracting the attention of the consumer, for example by representing images of the product, the manufacturer's brand and other useful information for a potential buyer.

[04] It is also known that the packaging of articles intended for sale is carried out using automatic machines, usually made up of a plurality of stations, in which an item is first inserted into a respective container, then a wrapper is formed around the container itself, by folding a sheet of thin material, for example cardboard. Then, the article thus packaged can be subject to further processing in the machine, for example the printing of images, barcodes or other on the casing formed around the container.

[05] Automatic machines of the described type allow achievement of high productivity, thanks to the high speed of movement of the mechanical parts; however, they often have considerable dimensions and bulk.

[06] The formed casings must also meet pressing production requirements, for example they must be free from aesthetic defects that would compromise their attractiveness to potential buyers.

[07] In particular, in the technical sector of reference, the need is felt to reduce the size and relative costs of the systems, without compromising high productivity and at the same time ensuring that the formed casings comply with the requirements.

Disclosure

[08] The aim of the present invention is to solve said problems, by devising a handling assembly that allows an optimal wrapping on an article enclosed in a container.

[09] Within this task, it is a further object of the invention to provide a handling assembly that ensures the achievement of a high production speed.

[10] Within this aim, it is a further object of the invention to provide a handling assembly that ensures the achievement of a high precision.

[11] An object of the invention is to provide an apparatus for packaging articles equipped with said handling assembly, which is compact and of small dimensions, of simple constructive and functional design, reliable and versatile in operation, as well as relatively inexpensive.

[12] The aforementioned objects are achieved, according to the present invention, by the handling assembly, the apparatus and the method for packaging articles according to claims 1 , 7 and 9.

[13] The handling assembly for packaging articles comprises a movable operative head. The movable operative head comprises an elongated casing, having a longitudinal axis arranged, in operation, in a substantially vertical direction.

[14] The operative head also comprises a gripping member, comprising at least one pair of gripping arms opposed to the longitudinal axis of the casing.

[15] The operative head also comprises means configured to determine the movement of the gripping arms alternately between a gripping configuration, in which the gripping arms protrude below the casing so as to grip and hold firmly an article underneath the casing, and a release configuration, in which the gripping arms are fully retracted inside the casing.

[16] According to one aspect of the invention, the casing shapes at the bottom a base portion configured to act as a pushing member, to exert a compressive stress on the underlying article.

[17] Preferably, the base portion shapes a flat, rectangular-shaped pushing surface.

[18] Preferably, the operative head is movable with three degrees of freedom in a three- dimensional space.

[19] Preferably, the casing has a prismatic shape.

[20] Preferably, the casing has the shape of a parallelepiped.

[21] Preferably, the casing has a rectangular section, and comprises a pair of opposing front walls and a pair of opposing side walls.

[22] Preferably, each gripping arm comprises a top connection portion and a bottom gripping portion.

[23] Preferably, each gripping arm is arranged at a respective side wall of the casing.

[24] Preferably, the connection and gripping portions of each gripping arm have a predominantly flattened shape, so as to define externally, with respect to the casing, a substantially continuous flat surface.

[25] Preferably, when the gripping arms are in the retracted release configuration, said flat surface defined by each gripping arm is arranged parallel to the respective side wall of the casing, in a position set back inside the casing with respect to the same side wall.

[26] Preferably, the operative head comprises a top portion.

[27] Preferably, the top portion is associated with a plurality of articulated arms that can be operated to determine a movement in three-dimensional space, with three degrees of freedom, of the operative head and to maintain the longitudinal axis of the casing in said substantially vertical direction.

[28] Preferably, the means configured to determine said movement of the gripping arms comprises a carriage, housed movably at said longitudinal axis of the casing, sliding in a longitudinal direction to the casing.

[29] Preferably, the means configured to cause said movement of the gripping arms also includes motion transmission means configured to move the carriage longitudinally to the casing.

[30] Preferably, the means configured to cause said movement of the gripping arms also includes, for each gripping arm, at least one articulated lever associated with the carriage and with the respective gripping arm.

[31] Preferably, each articulated lever system comprises a first articulated rod, a second articulated rod and a third articulated rod.

[32] Preferably, the first and second articulated rods are respectively hinged, at one end, to the connection portion of a gripping arm, and, at the opposite end, to the carriage.

[33] Preferably, the third articulated rod is hinged, at one end, to an intermediate portion of the first articulated rod, and, at the opposite end, to a seat placed in a fixed point of said front surface of the casing.

[34] Preferably, the first and second articulated rods have substantially the same length and are parallel, subsequently arranged along the direction of the longitudinal axis of the casing, thus forming an articulated parallelogram.

[35] Preferably, said articulated levers are configured to impart an orbital motion around the casing on the gripping arms.

[36] Preferably, during this orbital motion, the gripping arms remain parallel to each other.

[37] Preferably, the orbital motion includes a first phase of mutual distancing of the gripping arms, followed by a second phase of mutual approaching of the gripping arms.

[38] It is also an object of the present invention an apparatus for packaging articles, equipped with said handling assembly.

[39] The apparatus for packaging objects includes, upstream, means for feeding a plurality of articles.

[40] Preferably, the feeding means comprises a conveyor belt.

[41] The apparatus also includes a wrapping station.

[42] The station for forming a wrapper comprises, at a respective top portion, means configured to receive a preformed element of sheet material in abutment.

[43] The wrapping forming station also includes means configured to cause a deformation of the preformed element of sheet material.

[44] The apparatus also comprises one said handling assembly, configured to take an article from the feeding means, to transfer said article at the preformed element of sheet material into the forming station of a wrapper, and to cooperate with the forming station of a wrapper to form a wrapper on said article, by means of said preformed element of sheet material.

[45] Downstream, the apparatus also includes means for unloading the wrapped articles.

[46] Preferably, the station for forming a wrapper comprises a hopper.

[47] Preferably, the means configured to receive in abutment a preformed element of sheet material comprises a perimeter edge of the hopper.

[48] Preferably, the means configured to determine a deformation of said preformed element of sheet material comprises an inner wall of the hopper.

[49] Object of the present invention is also a method for packaging articles, implemented by means of said apparatus for packaging articles. The method comprises the following steps: a. feeding, through feeding means, a plurality of articles; b. arranging a handling assembly in a releasing configuration; c. bringing the handling assembly with its own base portion to a fed article; d. operating the handling assembly in a gripping configuration, moving at least a pair of gripping arms of the handling assembly from said release configuration, wherein said gripping arms are fully retracted within a casing, to a gripping configuration, wherein the gripping arms protrude at the bottom with respect to the casing to grip and hold said article firmly; e. arranging a preformed element of sheet material in a station for forming a wrapper, abutting against the means configured to receive said preformed element; f. transferring the handling assembly, which carries said article, to said preformed element of sheet material abutting against said station for forming a wrapper; g. operating the handling assembly in said release position to release the article and, at the same time, exerting a compressive stress on the article by said base portion, causing a lowering of the article and a folding of lateral flaps of the sheet around the article; h. unloading the article, together with the sheet so wrapped, by unloading means.

[50] Preferably, said movement of the pair of gripping arms from the release configuration to the gripping configuration, and vice versa, is an orbital type motion around the casing.

[51] Preferably, during such orbital movement, the gripping arms are parallel to each other.

[52] Preferably, the orbital motion includes a first phase of mutual distancing of the gripping arms, followed by a second phase of mutual approaching of the gripping arms.

Description of drawings

[53] The details of the invention will be more apparent from the detailed description of a preferred embodiment of the handling assembly for packaging articles, as well as of the apparatus equipped with said handling assembly, illustrated by way of example in the attached drawings, in which:

Figure 1 is an axonometric view of the apparatus for packaging articles according to the present invention;

Figure 2 is a side view of the apparatus for packaging articles illustrated in Figure 1 ;

Figure 3 is a further axonometric view of the apparatus for packaging articles according to the present invention, in which some parts have been removed to make the components of the apparatus more visible;

Figure 4 is an enlarged view of a detail of Figure 3;

Figures 5 - 7 are respective axonometric views of the handling assembly according to the invention, in different operating configurations;

Figures 8 - 9 are respective axonometric views of the handling assembly according to the invention, in which a part of the casing has been removed to make the internal components visible, in different operative configurations;

Figures 10 - 14 are respective axonometric views of the handling assembly and of the wrapping forming station according to the invention, in different operative configurations.

Description of embodiments of the invention

[54] With particular reference to these figures, the apparatus for packaging articles, preferably articles intended for sale, is indicated as a whole with 1.

[55] The apparatus 1 comprises a plurality of workstations.

[56] In particular, as visible in Figures 1 - 3, the apparatus 1 comprises, upstream, a feeding means 10 of a plurality of articles 2 intended for sale, enclosed in respective containers, for example boxes, preferably having a parallelepiped shape.

[57] The feeding means 10 preferably comprises a conveyor belt 11 equipped with a succession of shaped compartments 12, each compartment 12 being suitable for receiving and carrying a respective article 2.

[58] The apparatus 1 also includes a supporting structure 20, shaped by a plurality of vertical uprights 21 and horizontal beams 22, which develops starting from a terminal portion of the feeding means 10 and encloses the subsequent work stations of the apparatus.

[59] The apparatus 1 includes, downstream of the feeding means 10, an assembly 100 for handling the articles 2 intended for sale.

[60] As visible in Figure 4, the handling assembly 100 comprises an operative head 101 , which is movable with three degrees of freedom in a three-dimensional space upon operating a plurality of articulated arms 102, which connect a top portion 103 of the head 101 to the overlying beams 22 of the supporting structure 20 of the apparatus 1 , so as to configure an automatic three-dimensional movement system of the type known as Robot Delta.

[61] With particular reference to Figures 5 - 9, the head 101 is shaped by a casing 110 mainly parallelepiped-shaped, having a longitudinal axis capable of remaining, in operation, in a vertical direction.

[62] The casing 110 includes said end portion 103 and it also includes a base portion 104, a pair of opposing front walls 111 , 112 and a pair of opposing side walls 113, 114. In the illustrated embodiment, the base portion 104 has dimensions substantially equal to the dimensions of a base of an article 2 to be packaged.

[63] According to a feature of the invention, the base portion 104 of the casing 110 is configured to act as a pusher member, capable of exerting a thrust stress on an underlying article 2.

[64] In particular, the base portion 104 shapes a flat pushing surface, having rectangular shape.

[65] According to the invention, the head 101 includes a gripping member 120, described in detail hereinbelow.

[66] The gripping member 120 includes a pair of gripping arms 121 , 122, each gripping arm 121 , 122 being arranged at a respective side wall 113, 114 of the casing 110.

[67] Each gripping arm 121 , 122 includes a top connection portion 123 and a bottom gripping portion 124. The gripping portion 124 is removably connected to the connection portion 123, so that the gripping portion 124 is interchangeable. In fact, the gripping portion 124 can have different dimensions and shapes, depending on the characteristics of the articles to be treated.

[68] The connection and gripping portions 123, 124 of each gripping arm 121 , 122 preferably have a predominantly flattened shape, so as to define externally, with respect to the casing 110, a substantially continuous flat surface.

[69] The gripping arms 121 , 122 can be operated alternatively between a gripping configuration and a releasing configuration. In particular, when they are in the gripping configuration, the gripping arms 121 , 122 protrude below the casing 110 so as to firmly hold an article 2 which is located between the respective gripping portions 124 (see for example Figure 7 ). When they are in the releasing configuration, the gripping arms 121 , 122 are completely retracted inside the casing 110 (see for example Figure 5).

[70] Advantageously, when the gripping arms 121 , 122 are in the retracted releasing configuration, said flat surface defined by each arm 121 , 122 is arranged parallel to the respective side wall 113, 114 of the casing 110, in a retracted position inside the casing 110 with respect to the same side wall 113, 114 (see in particular Figure 14).

[71] The operative head 101 includes means configured to determine the movement of the gripping arms 121 , 122 alternatively between the gripping and releasing configuration.

[72] In particular, as visible in Figures 8 - 9, the operative head 101 preferably includes, inside the casing 110, a carriage 130 sliding in a longitudinal direction to the casing 110, on respective guide means 131 , for example consisting of a pair of guide rods. The carriage 130 can be operated in motion by means of motion transmission means 132, for example consisting of a worm screw which in turn is rotated by an external shaft connected, via a suitable joint, to the top portion 103 of the head 101 . However, actuation means of a different type can be used, for example of pneumatic type. The carriage 130 is housed movably at a central longitudinal axis of the casing 110.

[73] The operative head 101 also includes a plurality of articulated rods, suitable for activating the gripping arms 121 , 122 in motion. In particular, each gripping arm 121 , 122 can be operated in motion by an articulated lever system comprising a first articulated rod 125a, a second articulated rod 125b and a third articulated rod 125c.

[74] The first and second articulated rods 125a, 125b are respectively hinged, at one end, to the connection portion 123 of a gripping arm 121 , 122, and, at the opposite end, to the carriage 130.

[75] The third articulated rod 125c is hinged, at one end, to an intermediate portion of the first articulated rod 125a, and, at the opposite end, to a seat 126 placed in a fixed point of the front surface 111 of the casing 110.

[76] The first and second articulated rods 125a, 125b have substantially the same length and are parallel, being subsequently arranged along the direction of the longitudinal axis of the casing 110. Therefore, the first and the second articulated rods 125a, 125b shape an articulated parallelogram.

[77] Preferably, each gripping arm 121 , 122 can be operated in motion by a pair of first, second and third articulated rods 125a, 125b, 125c respectively placed side by side, in order to make the movement and positioning of each gripping arm 121 , 122 more precise and stable (see Figure 8).

[78] The apparatus 1 also includes, downstream, a wrapping station 200 (see in particular Figures 10 - 14).

[79] In particular, the wrapping station 200 includes a forming hopper 201 , placed, in operation, below the operative head 101. The hopper 201 includes a top perimeter edge 202, an internal wall and a bottom unloading opening 203.

[80] The hopper 201 is designed to receive, at a respective top portion, a preformed element 21 of sheet material, preferably made of cardboard. Preferably, the sheet 21 is suitable for being placed abutting on the perimeter edge 202 of the hopper 201 . The sheet 21 has a flat shape and preferably has a plurality of pre-formed fold and cut lines. The internal wall of the hopper 201 is configured to determine a deformation of the sheet 21 , when the sheet 21 is stressed by means of a compression action.

[81] Downstream of the wrapping station, the apparatus provides means 300 for unloading the wrapped articles (visible in particular in Figure 3). The unloading means 300 preferably comprises a conveyor belt.

[82] In addition, the apparatus 1 can provide further stations to carry out further processing.

[83] The operation of the apparatus for packaging articles is easily understandable from the previous description.

[84] Initially, a plurality of articles 2 are fed through the feeding means 10. [85] The operative head 101 is arranged in the releasing configuration, in which the gripping arms 121 , 122 are retracted inside the casing 110, and is brought to the feeding means 10, so that the base portion 104 of the casing 110 is brought into contact with a top surface of an article 2.

[86] Then, the operative head 101 is arranged in the gripping configuration, in which the gripping arms 121 , 122 protrude below the casing 110. In this configuration, the article 2 which is in contact with the base portion 104 is gripped and held firmly between the gripping portions 124 of the gripping arms 121 , 122.

[87] A sheet 21 is placed on the hopper 201 , and the head 101 , carrying the article 2 underneath, is then brought to the hopper 201 . In practice, article 2, carried by head 101 , is brought into contact with the sheet 21 (see in particular Figure 10).

[88] Subsequently, the operative head 101 is progressively brought into the releasing position, therefore the gripping arms 121 , 122 release the product 2 from its grip.

[89] At the same time, the operative head 101 is lowered, so as to exert, through the base portion 104, a compressive stress on the article 2. This stress determines the progressive lowering of the product 2 and of the sheet 21 inside the hopper 201 ; the sheet 21 deforms in contact with the internal wall of the hopper 201. Essentially, since the sheet 21 is larger than the contact surface between the sheet 21 itself and the article 2, said lowering determines the folding of lateral flaps 22 of the sheet 21 , which are interposed between the article 2 and the internal walls of the hopper 201 (see in particular Figure 11 ). The folding of the flaps 22 of the sheet 21 takes place preferably along the respective preformed fold lines.

[90] During the lowering movement of the operative head 101 , the gripping arms 121 , 122 are progressively brought into the releasing configuration, in which they are completely retracted inside the casing 110. In this way, advantageously, the gripping arms 121 , 122 do not interfere with the side flaps 22 of the sheet 21 during folding (see in particular Figures 12 - 13).

[91] In particular, the movement of the gripping arms 121 , 122 from the releasing configuration to the gripping configuration is implemented by operating, by the transmission means 132, a translational movement of the carriage 130 from an advanced position, in which it is located near the base portion 104 of the casing 110, towards a retracted position, in which it is located near the top portion 103.

[92] At the end of the lowering movement of the operative head 101 , the flaps 22 of the sheet 21 are in a substantially vertical configuration, adhering to the side walls of the article 2 (see in particular Figure 14). The article 2 so wrapped is then unloaded through the unloading opening 203 of the hopper 201 , and deposited on the unloading means 300 below.

[93] It is noted that, very advantageously, thanks to the particular configuration of the articulated rods adapted to operate the gripping arms 121 , 122, during the movement between the gripping configuration and the releasing configuration, and vice versa, the gripping arms 121 , 122 are always kept parallel to each other, carrying out an orbital type motion around the casing 110. This motion includes a first phase of mutual distancing followed by a second phase of mutual approaching. This allows the gripping arms 121 , 122 to grip and release the article 2 without rubbing that could damage the wrapper, compromising its compliance with production requirements.

[94] It is also noted that, equally advantageously, the first phase of reciprocal distancing of the gripping arms 121 , 122 occurs simultaneously with the downward thrust stress exerted on the article 2 by the base portion 104 of the casing 110. Essentially, carrying article 2 to the wrapper forming hopper 201 and pushing down on the same article 2, to form the wrapper, take place through the same operative head 101 , resulting in an increase in the production speed and compactness of the apparatus, reducing its costs.

[95] The handling assembly, the apparatus and the method according to the present invention achieve the aim of optimally carrying out a wrapping on an article enclosed in a container.

[96] In particular, the handling assembly, the apparatus and the method according to the present invention ensure a high operating speed, so as to operate effectively even if the machine is configured to operate at a very high speed.

[97] The apparatus described by way of example is susceptible to numerous modifications and variants according to different needs.

[98] In the practical embodiment of the invention, the materials used, as well as the shape and the dimensions, may be modified depending on needs without departing from the scope of the appended claims.

[99] Should the technical features mentioned in any claim be followed by reference signs, such reference signs were included strictly with the aim of enhancing the understanding of the claims and hence they shall not be deemed restrictive in any manner whatsoever on the scope of each element identified for exemplifying purposes by such reference signs.

Claims

Claims A handling assembly (100) for packaging articles (2), comprising a movable operative head (101 ); said operative head (101 ) comprising an elongated casing (110), having a longitudinal axis arranged, in operation, in a substantially vertical direction; said operative head (101 ) further comprising a gripping member (120) comprising at least a pair of gripping arms (121 , 122), which are opposed with respect to said longitudinal axis of said casing (110); said operative head (101 ) also comprising means configured to cause the movement of said gripping arms (121 , 122) alternatively between a gripping configuration, in which said gripping arms (121 , 122) protrude under said casing (110) so as to firmly grasp and hold a said article (2) underneath said casing (110), and a release configuration, in which said gripping arms (121 , 122) are fully retracted inside said casing (110); said casing (110) inferiorly having a base portion (104) configured to act as a pushing member, to exert a compressive stress on said underlying article (2). The handling assembly of claim 1 , wherein said casing (110) has a prismatic shape, having a preferably rectangular section, and comprises a pair of opposite front walls (111 , 112) and a pair of opposite side walls (113, 114); each said gripping arm (121 , 122) comprising a top connection portion (123) and a bottom gripping portion (124), said connection and gripping portions (123, 124) of each gripping arm (121 , 122) having a predominantly flattened shape, so as to define externally, with respect to said casing (110), a substantially continuous flat surface. The handling assembly of claim 1 or 2, wherein said operative head (101 ) comprises a top portion (103) associated with a plurality of articulated arms (102) operable to determine a movement of said operative head (101 ) in the three-dimensional space, with three degrees of freedom, and to maintain said longitudinal axis of said casing (110) in said substantially vertical direction. The handling assembly of any one of the preceding claims, wherein said means configured to cause said movement of said gripping arms (121 , 122) comprises a carriage (130), housed movably at said longitudinal axis of said casing (110); motion transmission means (132) configured to drive said carriage (130) in motion, longitudinally to said casing (110); for each said gripping arm (121 , 122), at least one articulated lever assembly associated with said carriage (130) and with said respective gripping arm (121 , 122). The handling assembly of claim 4, wherein said at least one articulated lever assembly comprises a first articulated rod (125a), a second articulated rod (125b) and a third articulated rod (125c); said first and second articulated rod (125a, 125b) being respectively hinged, at one end, to said connection portion (123) of a said gripping arm (121 , 122), and, at the opposite end, to said carriage (130); said third articulated rod (125c) being hinged, at one end, to an intermediate portion of said first articulated rod (125a), and, at the opposite end, to a seat (126) located in a fixed point of said front surface (111 ) of said casing (110). The handling assembly of claim 4 or 5, wherein said articulated lever assemblies are configured to impart an orbital motion on said gripping arms (121 , 122) around said casing (110), during which said gripping arms (121 , 122) are kept parallel to each other; said orbital motion comprising a first phase of mutual distancing of said gripping arms (121 , 122), followed by a second phase of mutual approaching of said gripping arms (121 , 122). An apparatus (1 ) for packaging articles (2), comprising means (10) for feeding a plurality of articles (2); a wrapper forming station (200) comprising, at a respective top portion, means (202) configured to receive in abutment a preformed element (21 ) of sheet material; said station (200) also comprising means configured to cause a deformation of said preformed element (21 ) of sheet material; a handling assembly (100) of any one of the preceding claims, configured to take one said article (2) from said feeding means (10), to transfer said article (2) at one said preformed element (21 ) of sheet material in said wrapper forming station (200), and to cooperate with said station (200) to form a wrapper on said article (2) by said preformed element (21 ) of sheet material; means (300) for unloading the wrapped articles (2). The apparatus for packaging articles of claim 6, wherein said wrapping station (200) comprises a hopper (201 ); said means (202) configured to support a preformed element (21 ) of sheet material comprising a perimetric edge of said hopper (201 ); said means configured to cause a deformation of said preformed element (21 ) of sheet material comprising an inner wall of said hopper (201 ). A method for packaging articles by means of an apparatus of claim 7 or 8, comprising the following steps: a. feeding, through feeding means (10), a plurality of articles (2); b. arranging a handling assembly (100) in a releasing configuration; c. bringing said handling assembly (100) with its own base portion (104) at one said fed article (2); d. operating said handling assembly (100) in a gripping configuration, moving at least a pair of gripping arms (121 , 122) of said handling assembly (100) from said release configuration, wherein said gripping arms (121 , 122) are fully retracted within a casing (110), to a gripping configuration, wherein said gripping arms (121 , 122) protrude inferiorly with respect to said casing (110) to grip and hold said article (2) firmly; e. arranging a preformed element (21 ) of sheet material in a station (300) for forming a wrapper, abutting against the means (202) configured to receive said preformed element (21 ); f. transferring said handling assembly (100), carrying said article (2), at said preformed element (21 ) of sheet material abutting against said wrapper forming station (300); g. operating said handling assembly (100) in said release position to release said article (2) and, at the same time, exerting a compressive stress on said article (2) by said base portion (104), causing a lowering of said article (2) and a folding of lateral flaps (22) of said sheet (21 ) around said article (2); h. unloading said article (2), together with said wrapped sheet (21 ), by unloading means (300). The method for packaging articles of claim 9, wherein said movement of said pair of gripping arms (121 , 122) from said releasing configuration to said gripping configuration, and vice versa, is an orbital type motion around said casing (110), during which said gripping arms (121 , 122) remain parallel to each other; said orbital motion comprising a first phase of mutual distancing of said gripping arms (121 , 122), followed by a second phase of mutual approaching of said gripping arms (121 , 122).