Multi-carrier pod machine

Abstract

The invention belongs to the field of a multi-carrier pod machine comprising modules for transferring objects, a machine for transferring objects comprising at least one module, which can be used for various applications. An example of such an application is the harvesting of vegetables, for example for harvesting asparagus.

Description

Technical Field

[0001] This invention belongs to the field of: a multi-frame pod machine including a module for transporting objects, and a machine for transporting objects including at least one module, which can be used in various applications. An example of this application is vegetable harvesting. Background Technology

[0002] Widely used are modules for transporting objects (e.g., for harvesting rows of vegetables), packing machines, picking and sorting machines, picking and placing machines, surface-mount technology component placement systems, and mail selection and sorting machines. These machines often incorporate robotic components. They can be used to place a wide variety of components (e.g., electronic components) at high speed and with extreme precision, to move selected items / objects to another location, for harvesting, and so on.

[0003] One drawback of this type of machine is that it typically operates in a static mode, meaning the machine is in a given position, a component / part is in a second position, and the machine moves the component / part to the second position. This second position could also be a location next to a conveyor belt carrying the object, which could be another conveyor belt. Accuracy and speed can be adversely affected when the machine operates under less static conditions that are typically associated with moving objects or movement relative to the first position.

[0004] The inventors have developed a machine for harvesting vegetables, as shown in WO 2019 / 098827 A2. The machine operates as expected, harvesting over one million asparagus spears per module in 3-4 months with minimal wear and maintenance; however, this invention provides improvements to the machine.

[0005] As background art, the following documents may be mentioned: CN 106 233 925 A, CN 109 429 700 A and EP 3498 076 A1 describe alternative modules with linear actuators. WO 2012 / 148278 A1 describes a module having an annular drive member on which a carrier is mounted.

[0006] Therefore, the present invention relates to an improved module, and a machine including this module for non-static conditions, which solves one or more of the aforementioned problems and disadvantages of the prior art, thereby providing reliable effects without compromising functionality and advantages. Summary of the Invention

[0007] One objective of the present invention is to overcome one or more limitations of prior art devices and to improve modules and machines thereof. In a first aspect, the invention relates to a module 100 for conveying objects (e.g., moving these objects horizontally and / or vertically) typically in repetitive and intermittent modes, the module comprising: a frame 10 having a longitudinal axis, i.e., the machine is typically longer than wide; at least one first rotating system 20 including at least one individually operable rotor 21, each rotor connected to the first rotating system; at least one carrier 30, each carrier connected to the rotor, preferably removably connected, wherein each rotor can connect to more than one carrier, for example 2-4 carriers, preferably 2-20 carriers, the first rotating system being adapted to rotate the carriers, each carrier individually including a pod 40, wherein the pod is adapted to move within the carrier in a direction perpendicular to the movement of the carrier, wherein the pod can optionally also rotate relative to a suspension point, thereby providing movement which can be considered as movement in the x-direction, each pod corresponding to a pod for moving the pod within the carrier. Individually operated pod actuators 41, each pod including at least one object transferor 42, wherein each rotor is individually operable for rotating a carrier along a continuous track 60, wherein the track comprises two generally linear track sections 61 and two curved track sections 62 between the two linear sections, the track thus being considered "elliptical," wherein the two generally linear track sections are spaced apart and parallel to the longitudinal axis, which thus provides two movements in a direction parallel to the longitudinal axis (which can be considered the y-direction), one forward and one reverse; at least one controller for controlling the individually operable rotors 21 and pod actuators 41 such that the pods are typically in a given position at a given time during a certain time period, the given position being typically a fixed position in "space," and thus having constant x, y, z relative to a certain location on Earth; and at least one drive system 22 for driving the first rotation system and moving the pods. The at least one individually operable rotor 21 is a significant part of the at least one first rotation system 20, which itself may already provide sufficient stability and accuracy. The linear track 61 of the continuous track 60, located on the side where the pod moves in a direction perpendicular to the carrier's movement, is considered paramount because it provides, for example, additional stability and accuracy to the current module. Therefore, a fairly versatile module suitable for various functions and further adaptable is provided. The current module can be used, for example, to move objects from a conveyor belt, since the carrier can have a speed substantially equal to that of the conveyor belt, and the pod can then be used to move the object from the conveyor belt, for example. The module can be used in a similar manner on a vegetable harvesting machine. An example of this harvesting machine is provided in WO 2019 / 098827, the contents of which are incorporated herein by reference. Therefore, a simpler module is provided that still provides reliable performance under non-static conditions.

[0008] In a second aspect, the present invention relates to a machine for conveying objects, comprising at least one module according to the invention (typically comprising 2-50 modules).

[0009] The advantages of this instruction manual are detailed throughout the description. Attached Figure Description

[0010] Figure 1-1 0a-c displays certain aspects of the current machine and module.

[0011] Detailed description of the attached figures

[0012] In the picture:

[0013] 100 modules

[0014] 10 Framework

[0015] 11 motors

[0016] 12 rounds

[0017] 13 Speed ​​Controller

[0018] 14 access

[0019] 15 Bottom Path

[0020] 16 Continuous Chain

[0021] 20 First Rotation System

[0022] 21 Rotors

[0023] 22 Drive System

[0024] 30 racks

[0025] 35 Controller

[0026] 40 pods

[0027] 41 Pod Drive

[0028] 42. Object transfer device

[0029] 43 Pod Clamps

[0030] 44 Cutter

[0031] 45 Vegetable Positioner

[0032] 47 Vertical retainer

[0033] 48 blades

[0034] 49 Blade Protector

[0035] 50 carrier guide components

[0036] 60 Continuous Tracks

[0037] 61 Linear Orbit

[0038] 62 Curved track

[0039] 80 position sensors

[0040] 200 machines

[0041] Figure 1 Showcases 100 current machines used for harvesting vegetables (especially asparagus).

[0042] Figure 2 This is a top view of a current machine 100 used for harvesting vegetables. It shows a frame 10, a motor 11, wheels 12, a speed controller 13, a passageway 14 for the frame to move around, a continuous chain belt 16, a bottom passageway 15, a controller 35, and position sensors. Generally speaking, the machine is at least somewhat similar to the machine described in WO 2019 / 098827.

[0043] Figure 3 Details of the current frame 10 with a longitudinal axis, the first rotation system 20, the drive system 22, the carrier 30, the pod 40, and the pod actuator 41 are shown. For clarity only, only the carrier is shown. The carrier is rotatable about the frame 10 and attached to the rotor 21 driven by the system 22 (see...). Figure 4 ).

[0044] Figure 4 The details of the movement of the carrier and pod are shown. The carrier 30 moves along a continuous track 60, which has two generally linear tracks 61 and two curved tracks 62. The carrier 30 is attached to two first rotating systems, one located on the top side of the carrier and one on the bottom side, which provide well-controlled rotation. The rotation can be moved back intermittently to compensate for the movement of the machine or to align with the movement of the conveyor belt. When the carrier is in a further active position, the pod can move in the x-direction and / or z-direction, as indicated by the arrows. The pod can be adapted for harvesting, for example, by providing clamps 43, cutters 44, vegetable positioners 45, and object transferors 42, as shown in the figure.

[0045] Figure 5 A diagram showing the asparagus machine in operation.

[0046] Figure 6 Show a top view of the frame and carrier.

[0047] Figure 7 exhibit Figure 6The side view shows several carriers in a waiting position on the rear side.

[0048] Figure 8 The diagram shows a top view of 10 carriers connected in pairs (indicated by arrows), which move counterclockwise in the feedback loop as indicated, such that after performing a task and optionally releasing an object on the underside of the module, they are ready to repeat the task. Each pair of carriers is attached to the same rotor 21, or to two or more rotors. The pod actuator is positioned as close as possible to the center of the module. Figure 9 Show its side view.

[0049] Figure 10a shows another version of the current machine, Figure 10b is its front view, and Figure 10c is a perspective view. In these figures, the frame and pod are omitted. Detailed Implementation

[0050] The invention will be further illustrated below by way of examples, which are exemplary and illustrative and are not intended to be construed as limiting the invention. Those skilled in the art will readily appreciate that many obvious or non-obvious variations can be conceived within the scope of protection defined by the present claims.

[0051] In an exemplary embodiment of the present module, it may include at least two first rotating systems 20, each first rotating system including at least one individually operable rotor 21, preferably 3-24 rotors 21, more preferably 4-12 rotors 21, for example 6-8 rotors 21.

[0052] In an exemplary embodiment of the current module, two rotors 21 may be provided per carrier, wherein the two rotors are respectively coupled to the carrier in a manner where one is above / below the other. This provides improved stability, particularly during movement and especially during acceleration or deceleration.

[0053] In an exemplary embodiment of the current module, at least n carriers 30 are coupled to the same rotor 21, where n is two or more, preferably in 360 / n-degree out-of-phase connection, and preferably in a removable connection. In the case of a single rotor, more than one carrier can typically operate in "frequency" mode.

[0054] In an exemplary embodiment, the current module may include a feedback loop 70 for circulating each carrier 30 from the back side to the front side of the frame 10 and from the front side to the back side of the frame 10 in space.

[0055] In an exemplary embodiment of the current module, the object transferor 42 may be a clamp. The clamp may hold an object at, for example, a first position and transfer it to, for example, a second position.

[0056] In an exemplary embodiment, the current module may include a carrier guide 50, wherein the carrier guide 50 may be adapted to move at a constant or zero speed.

[0057] In an exemplary embodiment of the present module, the frame 10 may include at least one passageway 14 for allowing the at least one carrier 30 to rotate in a cyclic manner.

[0058] In an exemplary embodiment of the current module, the pod may include an object transferor 42 that is movable in a direction perpendicular to the longitudinal axis, in a vertical direction perpendicular to the longitudinal axis, and combinations thereof. Therefore, the current design provides a high degree of flexibility for moving the pod around.

[0059] In an exemplary embodiment of the current module, the pod and / or object transferor 42 can rotate along a first axis, and / or the pod and / or object transferor 42 can rotate along a second axis, thus providing greater degrees of freedom.

[0060] In an exemplary embodiment of the present module, the rotor 21 may be selected from a conveyor belt, a chain, a toothed conveyor belt, or a combination thereof.

[0061] In an exemplary embodiment of the present module, the pod drive may be selected from a conveyor belt, a chain, a toothed conveyor belt, or a combination thereof.

[0062] In an exemplary embodiment of the current module, the pod actuator may be eccentrically positioned within the frame, for example, 10-80% closer to one side of the frame where the pod is adapted to move in a direction perpendicular to the movement of the carrier.

[0063] In an exemplary embodiment of the current module, the at least one controller may include a closed loop, such as a feedback loop. Therefore, for example, when the current machine is moving at a speed of 1 m / s, the positioning accuracy of the pod is greatly increased. The prior art system of WO2019 / 098 827 A2 is already very accurate at slightly lower speeds, but at a speed of 1 m / s, the positioning accuracy of the pod is approximately ±5 cm, while the system of the present invention achieves an accuracy of approximately ±1.5 mm.

[0064] In an exemplary embodiment of the current module, the at least one controller is adapted to move the pod in a position closer to the frame, preferably in a position closest to the frame, when the carrier is in at least one of two curved track sections between the two linear sections.

[0065] In an exemplary embodiment of the present module, the pod drive and / or rotor may have gears.

[0066] In an exemplary embodiment of the current module, the carrier and pod may be adapted to lock with the pod drive in one of the two curved track sections.

[0067] In an exemplary embodiment of the current module, a calibration unit may be included, preferably one calibration unit for each carrier and pod.

[0068] In an exemplary embodiment of the present module, the pod may be adapted to move at a speed v2 greater than the speed v1 of the carrier when the carrier leaves one of the two curved track sections and enters one of the two linear sections, wherein the pod is adapted to move at a speed v2 equal to the speed v1 of the carrier when the carrier is in the middle section of said one of the two linear sections, and wherein the pod is adapted to move at a speed v2 less than the speed v1 of the carrier when the carrier leaves said one of the two linear sections and enters the second of the two curved track sections.

[0069] In an exemplary embodiment of the current module, the pod and carrier may be adapted to transfer an object within 2 seconds, preferably within 1500 milliseconds (e.g., within 1200 milliseconds).

[0070] In exemplary embodiments of the present machine, it may be selected from harvesting machines (e.g., for harvesting vegetables arranged in rows, such as asparagus), baling machines (e.g., for wrapping), pick-and-place machines, surface-mount technology component placement systems, pick-and-sort machines, non-static machines, and mail selection machines. The machines and methods can also be used in principle for similar plants, particularly species of the Asparagaceae family, generally, for example, the Asparagus genus (e.g., asparagus), the Asparagus genus (e.g., Pyrenean Asparagus), and species of the Rayonoides subfamily (e.g., Brahmin and Rubbergrass), as well as other vegetables of the Brassicaceae family.

[0071] In an exemplary embodiment of the present machine, the pod may be a cutting module, which includes clamps 43 for gripping individual vegetables, a cutter 44, and a vegetable locator 45, wherein the cutting module is movably located in the carrier, thereby allowing movement in a horizontal direction perpendicular to the longitudinal axis.

[0072] In an exemplary embodiment of the present machine, it may include a frame 10, which includes a motor 11 and a wheel 12, a speed controller 13, and optionally at least one continuous chain belt 16.

[0073] In an exemplary embodiment of the present machine, it may include a central bottom passage 15 for allowing the machine to move freely over a row of vegetables.

[0074] In an exemplary embodiment of the present machine, it may include a controller 35 for controlling the at least one carrier and pod, frame speed and feedback loop speed.

[0075] In an exemplary embodiment of the present machine, it may include at least one position sensor 80, such as an optical sensor, for detecting individual vegetables.

[0076] In an exemplary embodiment of the present machine, it may include: wherein the cutter includes a vertical retainer 47 (e.g., a bar), a blade 48, and a blade protector 49, wherein the blade is adapted to rotate in a horizontal plane for cutting individual vegetables.

[0077] In an exemplary embodiment of the present machine, the vegetable locator 45 may include at least two horizontally rotatable tactile sensors 45a spaced 1-10 cm apart and oriented with a tapered geometry to locate vegetables.

Claims

1. A module (100) for transferring objects, comprising: Frame (10), which has a longitudinal axis, At least one independently operable carrier (30), each carrier being connected to at least one rotator. Each carrier independently includes a pod (40), wherein the pod is adapted to move horizontally within the carrier in a direction perpendicular to the movement of the carrier, and each pod corresponds to an independently operable pod actuator (41) for moving the pod horizontally within the carrier in a direction perpendicular to the movement of the carrier. Each pod includes at least one object transfer device (42), The characteristic is that, The module includes at least two first rotating systems (20), each first rotating system including at least one independently operable rotator (21), and each of the at least one independently operable rotator (21) is connected to at least one carrier. Each rotator (21) is independently operable to rotate at least one carrier along a continuous track (60), wherein the continuous track comprises two linear tracks (61) and two curved tracks (62) between the two linear tracks (61), wherein the two linear tracks (61) are spaced apart and parallel to the longitudinal axis. At least one controller is used to control the independently operable rotator (21) and the pod actuator (41) such that the pod is in a given position at a given time during a certain time period, and At least one drive system (22) is used to drive the first rotating system (20) and move the pod.

2. The module according to claim 1, characterized in that each first rotating system comprises 3-24 independently operable rotators (21).

3. The module according to claim 1, characterized in that each carrier is connected to two rotators (21), wherein the two rotators are respectively connected to the carrier in such a manner that one is above / below the other.

4. The module according to claim 1, characterized in that at least n carriers (30) are connected to the same rotator (21), wherein n is two or more.

5. The module according to claim 1, characterized in that it includes a feedback loop (70) for circulating each carrier (30) from the back side to the front side of the frame (10) and from the front side to the back side of the frame (10) in space.

6. The module according to claim 1, characterized in that the object transferor (42) is a clamp.

7. The module according to claim 1, characterized in that it includes a carrier guide (50), wherein the carrier guide (50) is adapted to move at a constant or zero speed.

8. The module according to claim 1, characterized in that the frame (10) includes at least one passage (14) for allowing the at least one independently operable carrier (30) to rotate in a cyclic manner.

9. The module according to claim 1, characterized in that the pod includes an object transferor (42) capable of moving in a horizontal direction perpendicular to the longitudinal axis, moving in a vertical direction perpendicular to the longitudinal axis, and combinations thereof.

10. The module according to claim 1, characterized in that the rotator (21) is selected from conveyor belts, chains, toothed conveyor belts, and combinations thereof, and / or The pod drive is selected from conveyor belts, chains, toothed conveyor belts, and combinations thereof, and / or The pod actuator is eccentrically positioned within the frame, and / or The at least one controller includes a closed circuit loop, and / or The at least one controller is adapted to move the pod in a position closer to the frame when the carrier is in at least one of the two curved tracks between the two linear tracks, and / or The pod drive and / or rotator are equipped with gears, and / or The carrier and pod are adapted to lock with the pod drive in one of the two curved tracks. and / or Including calibration units, and / or The pod is adapted to move at a speed v2 greater than the speed v1 of the carrier when leaving one of the two curved tracks and entering one of the two linear tracks, the pod is adapted to move at a speed v2 equal to the speed v1 of the carrier when the carrier is in at least one of the two linear tracks, and the pod is adapted to move at a speed v2 less than the speed v1 of the carrier when the carrier leaves one of the two linear tracks and enters the second of the two curved tracks, and / or The pod and carrier are designed to transfer objects within 2 seconds.

11. A machine for transferring objects, comprising at least one module according to any one of claims 1-10.

12. The machine of claim 11, wherein the machine is selected from harvesting machines for harvesting vegetables arranged in rows, packing machines for wrapping, pick-and-place machines, surface mount technology component placement systems, pick-and-sort machines, non-static machines, and mail selection machines.

13. The machine according to any one of claims 11-12, wherein the pod is a cutting module comprising clamps (43) for gripping individual vegetables, a cutter (44), and a vegetable locator (45), and wherein the cutting module is movably located in the carrier, thereby allowing movement in a horizontal direction perpendicular to the longitudinal axis.

14. The machine of claim 11, wherein the machine comprises a frame (10) including a motor (11) and wheels (12), and a speed controller (13).

15. The machine of claim 11, wherein the machine includes a central bottom passage (15) for allowing the machine to move freely over a row of vegetables.

16. The machine of claim 15, comprising a controller (35) for controlling the at least one independently operable carrier and pod, frame speed and feedback loop speed.

17. The machine according to claim 11, comprising at least one position sensor (80) for detecting individual vegetables.

18. The machine of claim 13, comprising: The cutter includes a vertical holder (47), a blade (48), and a blade protector (49), wherein the blade is adapted to rotate in a horizontal plane for cutting the individual vegetables.

19. The machine according to claim 13, wherein the vegetable locator (45) comprises at least two horizontally rotatable tactile sensors (45a) spaced 1-10 cm apart and oriented in a tapered geometry to enable the positioning of vegetables.

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