WO2017149554A1 - Machine pour le positionnement orienté automatique de fruits dans un contenant d'emballage primaire - Google Patents

Machine pour le positionnement orienté automatique de fruits dans un contenant d'emballage primaire Download PDF

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Publication number
WO2017149554A1
WO2017149554A1 PCT/IT2016/000054 IT2016000054W WO2017149554A1 WO 2017149554 A1 WO2017149554 A1 WO 2017149554A1 IT 2016000054 W IT2016000054 W IT 2016000054W WO 2017149554 A1 WO2017149554 A1 WO 2017149554A1
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WO
WIPO (PCT)
Prior art keywords
machine
fruit
station
fruits
orientation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IT2016/000054
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English (en)
Inventor
Aldo Righi
Massimo MENGOZZI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denken Italia Srl
Original Assignee
Denken Italia Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denken Italia Srl filed Critical Denken Italia Srl
Priority to PCT/IT2016/000054 priority Critical patent/WO2017149554A1/fr
Publication of WO2017149554A1 publication Critical patent/WO2017149554A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/02—Packaging agricultural or horticultural products
    • B65B25/04—Packaging fruit or vegetables
    • B65B25/046—Packaging fruit or vegetables in crates or boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B65B35/18—Feeding, e.g. conveying, single articles by grippers by suction-operated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/56—Orientating, i.e. changing the attitude of, articles, e.g. of non-uniform cross-section
    • B65B35/58—Turning articles by positively-acting means, e.g. to present labelled portions in uppermost position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged

Definitions

  • the present invention relates to an automated machine for accumulating, separating, orienting and positioning fruits in primary packing containers.
  • This machine is created by the productive and economic need for automating the process for positioning fruit in a primary packing.
  • the possible variables are the type of fruit, the grade thereof, the (wrinkled, waxed, wet, etc.) fruit surface conditions, the degree of ripeness (sensibility to crushing), the possible presence of leaves or branches, the possible presence of second-class or waste fruit, the packing type required by the customer, the fruit orientation in the packing for aesthetical purposes.
  • peaches therefor the above-mentioned problem is particularly felt.
  • peaches are positioned in the primary packing container all in the same direction and precisely with the leaf stalk directed downwards towards the container and with the most red-coloured portion (therefore the one designating a higher degree of ripeness) exposed upwards.
  • the machine could be used for treating other types of fruits, therefor there is the same need for oriented positioning, and which, for shape and geometry, can be treated and handled as it will be described hereinafter, even if with the required mechanical adaptations of the machine or parts thereof.
  • the present invention by overcoming the known art problems, involves several and evident advantages.
  • the current lines for treating, selecting and packing the fruit are characterized by handling each batch of processed fruit as a single entity during the whole input, cleaning and transportation phase. Even the grading machine, which has the purpose of selecting the single fruits according to different criteria, has a process for separating and loading fruits on small carriages favouring speed rather than precision.
  • the mix of these three variables determines the rules to be set (in particular at software level) to obtain the packaging wished for a specific product.
  • This machine thanks to the application and multisectorial technological combination, is able to automate a complex productive phase, ruled by several variables, therefore sensibility in handling, versatility and effectiveness, apart from what already enlisted in this description, are to be considered the main novelty aspects characterizing it.
  • FIG. 1 is an overall view of a machine according to the present invention.
  • figure 2 is a view of a input station of the machine of figure 1 ;
  • figure 3 is a rear view of a cadencing station of the machine of figure 1 ;
  • figure 4 is a front view of a cadencing station of the machine of figure 1 ;
  • figure 5 shows a support bearing seats for orienting the fruits, a portion of an orienting station of the machine of figure 1 ;
  • figure 6 is a top view of the orientation seats of figure 5;
  • - figure 7 shows the rotating devices for orienting the fruits
  • - figures 8 and 9 illustrate in details the modes for orienting the fruit
  • FIG. 10 and 11 show two possible embodiments of a gripping hand according to the present invention.
  • figure 1 represents an overall view of a machine 1 according to the present invention.
  • the machine 1 is devised to be coupled with a line for treating and selecting the fruit. More precisely, it can be placed downstream of a "grading machine” providing a flow of selected fruit, according to grade and/or other criteria, input in the machine.
  • the sensor system provided for controlling the machine can distinguish the size, the colour, the shape apart from the quality, the integrity, the degree of ripeness and the sugar percentage of the fruit.
  • An automatic palletizer or other type of station for the secondary packing can be advantageously connected downstream of the machine.
  • a machine 1 for the automatic positioning of fruits 100 in a container 200 first of all comprises a station 10 for inputting the fruits to be positioned in such container 200.
  • Such input station 10 comprises a region 11 for accumulating fruits, preferably shaped like a hopper with tilted plane 12 and comprising a bottom wall 13.
  • the tilting of the hopper plane can be varied, in case to adapt to the upstream line and even to adjust the speed of the incoming fruits.
  • One or more presence sensors for example photocells placed at a predefined height level, detect the presence of fruits in the hopper itself. These sensors can be used for example to adjust the inflow of fruits, by controlling an automatic cylinder which makes a deviating bar, placed onto the fruit conveyor belt, to be opened by allowing then the filling-in of the hopper.
  • the machine 1 further comprises an automated orientation station 20, for orienting a fruit according to a predefined configuration with respect to a reference system (XYZ).
  • a predefined configuration for example, can provide that the fruit (in this case a peach) has to be oriented so as to have the leaf stalk downwards (that is directed towards the inside of the primary container) and, in case, with the portion of a predefined colouring level upwards (at least as much as possible).
  • the machine 1 generally, comprises a plurality of sensors 50 to detect the presence of fruits in each one of the above-mentioned stations, and a unit 60 controlling the machine which controls the actuation thereof, even based upon data detected by the sensors 50.
  • the input station 10 and the automated orientation station 20 define in the machine one or more channels 5 for treating said fruits.
  • the machine 1 comprises four treatment channels, but it is evident and it will be explained in detail that as the channels are independent therebetween and coordinated by a single control unit, the machine could provide a different, greater or smaller, number thereof, without having to modify in any way the base inventive concept.
  • the machine 1 further comprises at least an automatic device 30 for transferring a single fruit 100 from the input station 10 to the orientation station 20.
  • an automatic device 30 for transferring a single fruit 100 from the input station 10 to the orientation station 20.
  • an automatic device 30 for transferring a single fruit 100 from the input station 10 to the orientation station 20.
  • one for each one of said treatment channels is provided and they perform a function of separating input fruits.
  • Each one of said automatic transfer (or separation) devices 30 comprises a pusher 31 positioned at a terminal portion of the tilted plane 12 of the hopper, close to the bottom wall 13.
  • the pusher 31 the operation thereof is controlled by the control unit 60, preferably is made of plastic material and actuated by means of a pneumatic cylinder according to a translation motion along the bottom wall 13.
  • the pusher 31 has a heading region 32 shaped so as to contain one single fruit. In rest position the heading region 32 of the pusher can be considered a portion of the tilted plane of the accumulating hopper, whereas when the pneumatic cylinder is actuated, the pusher 31 rises along the bottom wall and brings therewith no more than one fruit.
  • the bottom wall 13 has an upper edge 14 faced onto the orientation station 20 and the shape of the heading region of the pusher 31 is so that, upon reaching the upper edge 14 the fruit is pushed towards the orientation station 20.
  • a cadencing station 70 is provided.
  • the cadencing station 70 receives the fruits pushed by the pushers 31 and it adjusts the transfer thereof towards the orientation station 20, so that in the orientation station 20 there is one single fruit at a time.
  • one or more sensors for example, photocells, can be provided at the cadencing station to control the actuation of the pushers 31.
  • each channel 5 of the cadencing station 70 one or more mobile barriers 33 are provided, controlled by the control unit 60 based upon data acquired by presence sensors. Such mobile barriers 33 are then actuated so that each fruit can pass along a corresponding channel and be transferred into the orientation station.
  • the orientation station 20 still for each treatment channel 5, comprises a respective orientation seat 21 shaped so as to receive one single fruit.
  • the shape and sizes of the seat 21 could be adapted to the type of fruit which the machine has to process.
  • the seat 21 since it is about peaches - then with substantially spherical shape - the seat 21 will be substantially shaped like a hollow sphere portion. Each one of such orientation seats 21 has a pierced bottom area 22.
  • the orientation station 20, for each channel 5 comprises a rotating device 23 assembled onto a carriage 24 moving between a rest position, wherein the rotating device 23 is outside said pierced bottom area 22, and a contact position, wherein the rotating device 23 is inside said pierced bottom area 22, so as to come in contact with the surface of a fruit existing in the respective orientation seat 21 so that the rotation of the rotating device 23 puts into rotation the fruit in the orientation seat.
  • the fruit is placed in rotation by a contact wheel 24, preferably coated with rubber.
  • the wheel is actuated by a motor, preferably by means of a multiplier, for example a knurled metallic disc 12 actuated by an electric motor.
  • This mechanical group can be made to translate onto the carriage, and placed in contact with the fruit, by means of a pneumatic piston.
  • the contact takes place by exploiting the lower opening 22 of the orientation seat 21.
  • the fruit 100 rotates in the cup until the leaf stalk is directed downwards.
  • the cavity itself of the leaf stalk determines the loss of contact of the fruit 100 with the wheel 24 or at least a contact insufficient to determine the additional rotation of the fruit 100.
  • This operation is obtained by exploiting the characteristic shape of the peach which, at the leaf stalk, has a hollow surface portion with respect to the generically spherical surface of the fruit itself.
  • a sensor in contact with the fruit can be advantageously provided to determine that the device 23 is put into rotation and it is moved from the contact position to the rest position, when said contact with the fruit is lost during the rotation.
  • the machine 1 further comprises automated means 40 for picking up the oriented fruit from the orientation station 20 and for transferring it into a primary container 200 for fruits.
  • the picking-up automated means 40 comprises a robotic arm 41 programmed for picking up an oriented fruit from said orientation station 20 and transferring it into the container 200.
  • the picking up of the fruit by the robot is made possible by a gripping member 42, preferably of the pneumatic type with suction cup.
  • a gripping member with single suction cup (as shown by way of example in figure 10), or with three suction cups, arranged therebetween at 120°, could be arranged for a safer and at the same time more delicate grip, as shown in figure 11.
  • the robotic arm 41 is of anthropomorphic type, with six axes.
  • Such type of robot allows a greater motion flexibility and it allows to position easily each single fruit in the primary container, even in the positions inside the packing more complicated to be reached (for example two or four alveoli placed at the angles of the packings, hardly to be reached with vertical descending trajectories).
  • the number of robotic arms can be greater than one, sized based upon the number of treatment channels existing in the machine and to the amounts of fruit in the time unit which one wants to treat.
  • the machine could comprise a group for translating the orientation station so as to position it correctly with respect to each existing robotic arm.
  • Such translation group for example could be implemented by means of an additional robot (of Scara type or other).
  • additional robot of Scara type or other.
  • such functionality could even be exploited to treat at the same time two or more types of fruits (different therebetween by nature or grade).
  • the fruit-gripping analysis or study are determined by a software algorithm modulating the grip - for example in terms of void applied to the suction cups - based upon pre-established criteria connected to the type of fruit and degree of ripeness.
  • the suction cup system allows not to damage the fruit in case of possible collisions with the packing or with other fruits, during the positioning in the packing.
  • the high versatility provided by this solution allows to pick up the fruit gently and to position it properly in the container, according to the predefined spatial configuration set initially.
  • the machine 1 can further comprise an image acquisition system 300 apt to detect images of the fruit at least when it is in the orientation station 20.
  • the acquired images are transmitted to the control unit 60 which receives them and which is configured to process them and obtain data to be used to control the motion of said picking-up automated means 40, in particular of the robotic arm.
  • a possible orientation criterion which contributes to determine the wished spatial configuration, is based upon the colour of the fruit (as index of the degree of ripeness).
  • control unit 60 can include a software for recognizing the colours of the fruit in the orientation station 20 and the subsequent processing of data identifying the arrangement thereof with respect to the reference system (XYZ). These data can be used then to control the motion of the robotic arm (or other picking-up automated means).
  • control unit allows to handle in a simultaneous and coordinated way all apparatuses, thereamong:
  • the software controlling the image acquisition system is able to determine in an intelligent way sizes, shape, colour, colour distribution, degree of ripeness, possible waste or second choice fruit, of each single fruit before, during and after the mechanical orientation phase in the orientation seat.
  • the image vision and acquisition system can be positioned to tower above the above-described orientation seats 21.
  • the control system could process the best trajectory to be followed by the robotic arm to position the fruit in one of the free alveoli of the primary container according to the wished configuration.
  • the information collected by means of the vision system are then processed and based upon the same the software orders to the robot:
  • trajectory which trajectory is most suitable to be adopted in order not to damage the fruit, for example horizontal trajectories or the ones processed for leaving the fruit in the angle areas of the packing and/or to approach the already positioned fruits, in packing configurations providing contact between the fruits for reasons of optimum filling up. - to rotate properly to put back the fruit with the ripest area or the area with the strongest colour upwards (for exhibition and sale aesthetical reasons);
  • the machine could be equipped with several image sensors, positioned differently, to improve the knowledge of the position of fruits and thus to improve the robot motion and consequently to increase the machine effectiveness.
  • the machine is not downstream of a grading machine or which however has not as input fruit already selected by grade, it is possible using the vision system for selecting the fruits based upon the sizes thereof and dividing them consequently in suitable packings.
  • the machine 1 can further comprise, at least according to some embodiments thereof, means for loading/unloading the primary container(s) 200.
  • means for loading/unloading the primary container(s) 200 can comprise conveyor belts (with belt or chain), in case equipped with pushing inserts and positioning of the containers, which make the position univocal with respect to the reference system.
  • each single separating and orienting channel can work independently and be stopped in case of failure without stopping the working cycle of the upstream machine for this reason.
  • each single separating and orienting channel could be repeated at will to make that the the robot must never be stopped waiting for a fruit ready to be positioned.
  • each single machine could be constituted by any number of separating and orienting channels and several machines of this type could work on the same conveyor belt to satisfy the customised rate requirements.
  • the system for moving the packings could be modified with other motion types, as well as the system for univocally positioning the packing on the belt.
  • the cups in the orientation area could be modified in the shape and in the material according to size and the fruit type and to be inserted in different types of modular containers for the same.
  • the tools of the wrist or other operating end of the robot or cartesian axis will be implemented by means of supporting mechanical pieces with suction cups, levers, pincers, mechanical fingers, electro-adhesive strips or other devices apt to move the fruit.
  • the devices could be in number equal or greater than one on any wrist or other operating end of the robot or cartesian axis.
  • the pushers of the separating device will be made of different materials, apart from shapes, to adapt to different fruits and to different sizes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Agronomy & Crop Science (AREA)

Abstract

La présente invention concerne une machine automatisée pour accumuler, séparer, orienter et positionner des fruits dans des contenants d'emballage primaire.
PCT/IT2016/000054 2016-03-03 2016-03-03 Machine pour le positionnement orienté automatique de fruits dans un contenant d'emballage primaire Ceased WO2017149554A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IT2016/000054 WO2017149554A1 (fr) 2016-03-03 2016-03-03 Machine pour le positionnement orienté automatique de fruits dans un contenant d'emballage primaire

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2016/000054 WO2017149554A1 (fr) 2016-03-03 2016-03-03 Machine pour le positionnement orienté automatique de fruits dans un contenant d'emballage primaire

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WO2017149554A1 true WO2017149554A1 (fr) 2017-09-08

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111112097A (zh) * 2019-12-24 2020-05-08 浙江大学 一种用于球形水果位姿调整的机构与方法
CN111152974A (zh) * 2020-03-11 2020-05-15 陈燕 一种钙钛矿太阳能电池板自动装箱用入箱装置
CN111268192A (zh) * 2020-03-13 2020-06-12 青岛农业大学 一种苗木自动装箱装置及控制方法
CN111824487A (zh) * 2020-07-11 2020-10-27 黄秉润 一种水果采摘及包装设备及其工作方法
IT202000002902A1 (it) * 2020-02-13 2021-08-13 Mechatronics And Dynamic Devices S R L Sistema di trasporto e confezionamento articoli, dispositivo tampone per detto sistema e metodo di trasporto e confezionamento articoli
CN118219279A (zh) * 2024-05-23 2024-06-21 中国热带农业科学院农业机械研究所 一种应用于水果产业机械臂的智能视觉方法及系统
IT202400000624A1 (it) * 2024-01-16 2025-07-16 Unitec Spa Impianto di confezionamento di prodotti ortofrutticoli.

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4329831A (en) * 1980-05-05 1982-05-18 Pennwalt Corporation Apparatus for packing articles of fruit into boxes
US5007227A (en) * 1988-10-20 1991-04-16 Mcclusky Machinery Sales & Service Appartaus and method for packaging citrus fruit
EP0436168A1 (fr) * 1989-12-27 1991-07-10 Talleres Daumar S.A. Dispositif pour remplir des récipients des produits selon un plan prédéterminé
DE4031599A1 (de) * 1990-03-23 1991-09-26 Peter Dipl Ing Schroeder Vorrichtung zum aufgeben von lebensmittel-flachteilen auf einen foerderer
WO2010053369A2 (fr) * 2008-11-07 2010-05-14 Cremer Speciaalmachines B.V. Dispositif de distribution pour marchandises à la pièce

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4329831A (en) * 1980-05-05 1982-05-18 Pennwalt Corporation Apparatus for packing articles of fruit into boxes
US5007227A (en) * 1988-10-20 1991-04-16 Mcclusky Machinery Sales & Service Appartaus and method for packaging citrus fruit
EP0436168A1 (fr) * 1989-12-27 1991-07-10 Talleres Daumar S.A. Dispositif pour remplir des récipients des produits selon un plan prédéterminé
DE4031599A1 (de) * 1990-03-23 1991-09-26 Peter Dipl Ing Schroeder Vorrichtung zum aufgeben von lebensmittel-flachteilen auf einen foerderer
WO2010053369A2 (fr) * 2008-11-07 2010-05-14 Cremer Speciaalmachines B.V. Dispositif de distribution pour marchandises à la pièce

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111112097A (zh) * 2019-12-24 2020-05-08 浙江大学 一种用于球形水果位姿调整的机构与方法
IT202000002902A1 (it) * 2020-02-13 2021-08-13 Mechatronics And Dynamic Devices S R L Sistema di trasporto e confezionamento articoli, dispositivo tampone per detto sistema e metodo di trasporto e confezionamento articoli
CN111152974A (zh) * 2020-03-11 2020-05-15 陈燕 一种钙钛矿太阳能电池板自动装箱用入箱装置
CN111268192A (zh) * 2020-03-13 2020-06-12 青岛农业大学 一种苗木自动装箱装置及控制方法
CN111824487A (zh) * 2020-07-11 2020-10-27 黄秉润 一种水果采摘及包装设备及其工作方法
IT202400000624A1 (it) * 2024-01-16 2025-07-16 Unitec Spa Impianto di confezionamento di prodotti ortofrutticoli.
WO2025153469A1 (fr) * 2024-01-16 2025-07-24 Unitec S.P.A. Appareil d'emballage de produits horticoles
CN118219279A (zh) * 2024-05-23 2024-06-21 中国热带农业科学院农业机械研究所 一种应用于水果产业机械臂的智能视觉方法及系统

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