Fruit pitting machine and method

Abstract

A fruit (2) pitting machine (1) has a pocket conveyor (7) configured to advance fruits (2) in an advancement direction (DA) along a determined path (P) and having a plurality of pockets (8), each of which is configured to house a fruit (2), which has a pit (3), and to maintain the fruit (2) in a determined orientation; a control device (CD) configured to acquire a signal (S1) related to the configuration of the pit (3) through an organ (29) that is arranged in contact with the pit (3); and a pitting knife (16), and to arrange the pitting knife (16) at a determined distance from the pit (3) based on the control signal (C1) emitted by the control device (CD).

Description

[0001] FRUIT PITTING MACHINE AND METHOD

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This Patent Application claims priority from Italian Patent Application No. 102023000011616 filed on June 7, 2023, the entire disclosure of which is incorporated herein by reference .

[0004] TECHNICAL FIELD

[0005] This invention concerns a fruit pitting machine, in particular for peaches, plums, apricots, and avocados.

[0006] STATE OF THE ART

[0007] In particular, this invention relates to a pitting machine, in which two pitting knives are inserted in the pulp of the fruit on opposite sides of the pit and are configured to rotate around its axis and around the pit so as to separate the pulp near the pit from the remaining part of the pulp. This type of pitting machine, although it has proved efficient both in terms of quality and in terms of productivity (in terms of pitted fruits per unit of time) , is not able to maximise yield in terms of pulp removed from each fruit because the pitting knives must be kept at a safe distance from the pit to avoid breaking the pit up and producing pulp with pit fragments. In addition, the configuration of the pitting knife is predetermined as a function of the size of the pit deducted from the outer size of the fruit .

[0008] The problem derives from the fact that fruits of the same size or similar size may have corresponding pits with significantly different sizes so that the pitting knives, when inserted into the pulp, are always stopped at a pre-set distance calibrated on the presumed position of the pit and its presumed size.

[0009] Another problem occurs when the pit is broken up because, in that case, the risk that pit fragments remain embedded in the pulp is especially high, thus harming the quality of the final product. SUBJECT OF THE INVENTION

[0010] The purpose of this invention is to provide a machine that is free from or at least mitigates the drawbacks of the prior art .

[0011] In accordance with this invention, a fruit pitting machine is provided, which comprises:

[0012] - a pocket conveyor configured to advance fruits in an advancement direction along a given path and that has multiple pockets, each of which is configured to house a respective fruit, which has a pit provided with a distal end with respect to the stalk attachment point, and to maintain the fruit in a given orientation;

[0013] - a control device configured to acquire at least one signal related to the position and / or dimension of the pit with respect to a reference system, through at least one organ that is arranged at least partially in contact with the pit at a pocket conveyor stop station and calculate at least one control signal to arrange at least one pitting knife at a given distance from the pit.

[0014] In this way, the pitting knife is brought as close as possible to the pit to maximise the quantity of pulp separated from the pit, if the pit is whole, or at a safe distance, if the pit is broken up. In fact, the broken pit cannot counteract the resistance to the organ's penetration.

[0015] The machine comprises a pitting station where multiple upper pitting knives and multiple lower pitting knives are arranged. The control signal determines the selection of upper and lower pitting knives commensurate with the position and dimension of the pit so as to maximise the separation of the pulp from the pit.

[0016] In particular, this invention provides that the organ is a probe or a cutting knife or a pitting knife.

[0017] The pit can be detected via a sensor or with force- controlled actuators that are stopped when the advancement of the corresponding organ through the pulp meets a whole pit and can provide a broken pit signal when the organ reaches its end stroke.

[0018] In one embodiment, the machine comprises multiple probes controlled by respective force-controlled actuators and configured to acquire respective signals associated with significant points of the pit so as to improve the reliability of the representation of the position and shape of the pit.

[0019] Another purpose of this invention is to provide a method that overcomes the drawbacks of the prior art.

[0020] In accordance with this invention, a fruit pitting method is provided, the method involving:

[0021] - advancing a plurality of equally oriented fruits in an advancing direction along a given path, each fruit having a pit provided with an end distal to the point of attachment of the stalk;

[0022] - acquiring at least one signal correlated with the position of at least one reference point of the pit with respect to a reference system by means of at least one organ that is arranged in contact with the pit; and

[0023] - arranging a pitting knife in the pulp of the fruit at a given distance from the pit on the basis of a control signal calculated according to said signal.

[0024] The distance of the pitting knife from the pit, in light of the fork shape of the pitting knife, depends on two parameters: the length of the pitting knife insertion stroke in the pulp towards the pit and the width of the fork.

[0025] For this reason, this method involves selecting the upper and lower pitting knives from upper and lower pitting knives that have different dimensions and controlling their strokes .

[0026] BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Additional features and advantages of this invention will be clear from the description that follows of its nonlimiting embodiments, with reference to the attached figures, in which:

[0028] - Figure 1 is a schematic side elevation view, with parts removed for clarity, of a fruit pitting machine produced in accordance with this invention;

[0029] - Figure 2 is a schematic cross-section view, with details removed for clarity, of a fruit to be pitted using the machine in Figure 1;

[0030] - Figure 3 is a front view, with parts removed for clarity, of a processing station of the machine in Figure 1;

[0031] - Figure 4 is an elevated front view, with parts removed for clarity and schematic parts, of two processing stations.

[0032] - Figure 5 is a front view, with parts removed for clarity and schematic parts, of two stations in accordance with a variant of the pitting machine in Figure 1;

[0033] - Figures 6 to 9 are elevated views, with parts in cross-section and parts removed for clarity, of an additional variant of the pitting machine in Figure 1;

[0034] - Figures 10 and 11 are front elevated views, with parts removed for clarity and parts schematically depicted, of a detail of other respective variants of the machine in Figure 1.

[0035] PREFERRED EMBODIMENT OF THE INVENTION

[0036] In Figure 1, a fruit pitting machine is identified with reference number 1 for fruits such as peaches, plums, apricots, and avocados.

[0037] Generally, in a fruit, the position of the pit in relation to the attachment point of the stalk is basically the same, irrespective of the size of the fruit. In contrast, the dimensions of pits vary considerably, irrespective of the size of the fruit.

[0038] With reference to the fruit 2, in the example illustrated - a peach schematically illustrated in Figure 2 - the dimensions of the pit 3 may significantly vary with the same external dimensions of the fruit 2 while the distance D between the proximal end 4 of the pit 3 with reference to the attachment point 5 of the stalk (not illustrated in the attached figures) is basically constant, irrespective of the size of the fruit 2. It follows that the points defining the dimensions of the pit 3 are the distal end 6 with reference to the attachment point 5 of the stalk (not illustrated in the attached figures) and the width W of the pit 3. These considerations, specifically relating to a peach fruit 2, have a general character and are applied to other fruits that have a pit. The machine 1 in Figure 1 comprises a pocket conveyor 7 to advance the equally oriented and equally spaced fruits 2 along the upper branch with the attachment point 5 (Figure 2) turned downwards in an advancement direction DA along a given advancement path P. The pocket conveyor 7 comprises a succession of pockets 8, each of which is configured to maintain a respective fruit 2 inside a respective pocket 8 in a given position.

[0039] In the non-limiting embodiment in Figure 1, the machine 1 comprises four fruit 2 processing stations arranged in succession along the advancement path P and at the respective pocket conveyor stop stations 7. In this example, the machine 1 comprises a pre-incision station 9, which comprises two pre-incision knives 10, respectively arranged above and below the upper branch of the pocket conveyor 7 as illustrated in Figure 3 and configured to make two preincisions on opposite sides of the pit 3. The pre-incision station 9 comprises a cup 11 that is selectively lowered onto the fruit 2 to lock the fruit 2 before and during the insertion of the pre-incision knives 10 and, subsequently, raised to enable the advancement of the pocket conveyor 7.

[0040] With reference to Figure 1, the pre-incision station 9 also comprises three linear actuators 12, 13, 14 to respectively activate the upper and lower pre-incision knife 10 and the cup 11 to and from the fruit 2. Downstream of the pre-incision station 9, the machine

[0041] 1 comprises a pitting station 15 comprising two pitting knives 16 arranged respectively above and below the upper branch of the pocket conveyor 7; a cup 17 to lock the fruit

[0042] 2 before and during the activation of the pitting knives 16 to cut the pulp of the fruit 2 around the pit 3 (Figure 2) ; three linear actuators 18, 19, 20 to respectively activate the pitting knives 16 and the cup 17; and two rotating actuators 21, 22 to rotate the respective pitting knives 16 around the respective axes.

[0043] Downstream of the pitting station 15, the machine 1 comprises a cutting station 23, which comprises a knife 24 arranged above the upper branch of the pocket conveyor 7; a cup 25 to lock the fruit 2 in a given position; and two linear actuators 26 and 27 to respectively activate the knife 24 and the cup 25.

[0044] In accordance with this invention, along the advancement path P between the pre-incision station 9 and the pitting station 15, there is a sensing station 28 configured to acquire a signal SI associated with the position of the distal end 6 of the pit 3. The sensing station 28 comprises a probe 29, which is equipped with a sensor 30 at its distal end and is configured to be selectively inserted through the upper pre-incision of the fruit 2 in the pulp until being arranged in contact with the pit 3.

[0045] The sensor 30 is an inductive sensor or a capacitive sensor .

[0046] The sensing station 28 comprises a cup 31; a linear actuator 32, in particular a brushless linear electric motor, with return signal for acquiring a signal SI associated with the position of the free end of the probe 29 in relation to a reference system.

[0047] The sensor 30 is configured to interrupt the stroke of the linear actuator 31 when it is arranged in contact with the distal end 6 of the pit 3 (Figure 2) . The sensing station 28 also comprises a linear actuator 33 to move the cup 31 between a position in which it grips the fruit 2 and a rest position .

[0048] The machine 1 comprises a control device CD, which comprises the sensor 30; and a control unit 34 to acquire the signal SI, manage and synchronise the movements of the pocket conveyor 7 and the linear actuators 12, 13, 14, 18, 19, 26, 27, 32, 33, and the rotating actuators 21 and 22. In particular, the control unit 34 is configured to adjust the end stroke of the linear actuator 18 of the upper pitting knife 16 using a control signal Cl according to the signal SI so as to arrange the upper pitting knife 16 as close as possible to the pit 3 and totally safely. In other words, it is possible to set the distance between the upper fork-shaped knife 16 and the distal end 3 of the pit 3.

[0049] Figure 3 shows, in more detail, the pitting station 15 and the sensing station 28 connected by the control device CD that controls the pitting station 15 using the control signal Cl calculated as a function of the signal SI acquired at the sensing station 28.

[0050] In use and with reference to Figure 3, the pre-incision device 8 cuts the pulp of the fruit 2 to facilitate inserting the pitting knives 16 into the pulp; the pitting knives 16, in contrast to the pre-incision knives 11, do not have a cutting edge designed to cut the fruit 2.

[0051] With reference to Figure 4, the probe 29 is advanced inside the fruit 2 until the sensor 30 is arranged in contact with the distal end 6 of the pit 3. At this point, the advancement of the probe 29 is stopped and the control unit 34 provides a control signal Cl to set the stopping of the advancement of the upper pitting knife 16.

[0052] Thanks to the detection of the position of the distal end 6 of the pit 3 via the control device CD, it is possible to arrange the upper pitting knife 16 at a closer distance to the distal end 6 of the pit 3.

[0053] In accordance with a variant of this invention, the sensor 30 is omitted and the probe 29 is stopped by the resistance opposed by the pit 3 in combination with a force- controlled regulation of the actuator 32 that emits the signal SI associated with the position of the distal end 6 of the pit 3 once still.

[0054] With reference to Figure 5, a variant of the pitting machine 1 in Figure 1 is illustrated. The sensing station 28 has a probe 35 with a fork-shaped end made of an elastically deformable material, for example spring steel, and provided with sensors 36 and 37. The sensor 36 is configured to emit the signal SI associated with the position of the distal end 6 of the pit 3, while the sensor 37 is configured to emit a signal S2 associated with the deformation of the probe 35 and, thus, the width W of the pit 3. In practice, the probe 35 is deformed as a function of the width of the pit 3 and manages, in this way, to acquire a signal associated with the width W of the pit 3 (Figure 2) and / or the shape of the pit 3.

[0055] The sensor 37 is configured to detect the elastic deformation of the fork-shaped end and is, for example, a strain gauge housed on said fork-shaped end to detect the deformation of said fork-shaped end so as to acquire a signal S2 associated with the width of the pit 3 (Figure 2) and / or the shape of the pit 3.

[0056] In accordance with the embodiment in Figure 5, the pitting station 15 comprises two additional upper and lower pitting knives 38. The upper pitting knives 16 and 38 are assembled on a rotating tower 39 that is activated by a rotating actuator 40 so as to be alternatively arranged in alignment with the fruit 2 below.

[0057] Similarly, the lower pitting knives 16 and 38 are assembled on a rotating tower 41 that is activated by a rotating actuator 42 so as to be alternatively arranged in alignment with the fruit 2 above.

[0058] In accordance with a variant not illustrated, a tower is included for each pitting knife.

[0059] The control unit 34 is configured to emit, as well as the control signal Cl to set the stopping distance of the upper pitting knife 16 or 38, a control signal C2 to control the actuators 40 and 42 and the cross-section of the upper and lower pitting knives 16 or 38 as a function of the signal S2 associated with the width W (Figure 2) of the pit 3.

[0060] With reference to the embodiment in Figures 6 to 9, the fruit 2 pre-incision, sensing, pitting, and cutting operations are carried out in just one station that, for simplification, is only illustrated in the upper part.

[0061] As in the embodiments previously described, the machine comprises a pocket conveyor 7 (Figure 1) of which just one pocket 8 is shown in Figures 6 to 9 while stopped at the above-mentioned single station.

[0062] The machine 1 comprises two blades 43, each of which is provided with three cutting edges 44, 45, and 46; and a pitting knife 47; and a cup 48 configured to lock the fruit 2 between the pocket 8 and the cup 48.

[0063] The machine 1 also comprises a linear actuator 49 to lower in the direction and raise the cup 48; two activation devices 50 to activate the respective blades 43 in the directions DI, D2, and D3; and a linear actuator 51 to lower in the direction DI and raise in the direction opposite to DI the pitting knife 47 and a rotating actuator 52 to rotate the pitting knife 47 around the axis A.

[0064] The control device CD comprises at least one sensor 53 arranged on at least one blade 43 to halt the advancement of the blades 43 in the direction DI and emit a signal SI. The control unit 34 emits a control signal Cl to control the stopping of the pitting knife 47.

[0065] In use, the cup 48 is arranged above a fruit 2 arranged in the pocket 8 so as to grip the fruit 2 between the pocket 8 and the cup 48.

[0066] The two blades 43, arranged symmetrically and placed next to each other, are then inserted (Figure 6) . The two cutting edges 44 are adjacent to each other so as to form an arc that is arranged above and around the pit 3 of the fruit 2 (Figure 7) . Each cutting edge 44 is adjacent to the respective cutting edge 45 and perpendicular to the axis A while the cutting edge 46 is adjacent to the respective cutting edge 45 and parallel to the axis A. The advancement of the blades 43 is stopped when the sensor 53 signals the presence of the pit 3.

[0067] The cutting edges 44 and 45 cut the fruit 2 during the insertion of the blades 43 in the cup 38 (Figure 6) while the cutting edges 46 additionally cut the fruit 2 in the movement of the blades 43 in the respective directions D2 and D3 until reaching a position where the blades 43 are, at least in part, housed in respective seats of the cup 38 as illustrated in Figure 7.

[0068] With reference to Figure 8, once the blades 43 have been moved away from each other in the opposite directions D2 and D3, the pitting knife 47 is inserted inside the locking tool 1 and inside the fruit 2 while the blades 43 keep the parts of the fruit 2 separate, in which they created a slit that facilitates the insertion of the pitting knife 47, which is stopped as a function of the control signal Cl. Once inserted, the pitting knife 47 is rotated around the axis A so as to isolate the pit 3 from the pulp at least as far as regards the upper part of the fruit 2. The operations performed on the lower part of the fruit 2 are basically similar and involve the use of two blades and a pitting knife basically identical to the blades 43 and to the pitting knife 47. In the lower part, it is not necessary to detect the position of the pit 3 because it is basically unchanged.

[0069] With reference to Figure 9, the blades 43 are further advanced in the direction DI to complete the cutting of the fruit 2 before extracting, in succession, the pitting knife 47 and the blades 43 and raising the cup 48.

[0070] In accordance with a variant not illustrated of this invention, the sensor 53 is omitted and the control device CD comprises a sensor arranged on the pitting knife 47 to acquire a signal associated with the contact point with the distal end of the pit. Based on the signal acquired, the control device emits a signal associated with the position that the pitting knife 47 must assume before being rotated.

[0071] With reference to Figure 10, the control device CD in the sensing station 28 comprises a probe 54, which is free of sensors and is mounted on a plate 55 connected to an additional plate 56 using guides 57 and springs 58.

[0072] In use, when the probe 54 is inserted in the fruit 2 and arranged in contact with the pit 3, the plate 55 is pushed towards the plate 56 and, if the pit 3 is whole, the stroke of the probe 54 is halted by the pit 3.

[0073] The stopping of the advancement of the probe 54 is the result of the fact that the actuator 32 is force controlled. In the stopping position, the signal SI is acquired, which is associated with the position of the distal end of the pit 3.

[0074] If, on the contrary, the pit 3 is broken up, the stroke of the probe 54 is stopped at the end of the stroke and the signal SI acquired identifies the configuration of the broken pit. In this case, the pitting knives (not depicted in Figure 10) will keep an additional safety distance from the pit 3 to avoid including pit 3 fragments.

[0075] With reference to the variant in Figure 11, the sensing station 28 comprises three probes 54, 59, and 60, each of which is controlled by a respective actuator 32 that is force controlled and configured to emit a respective signal SI, S2, and S3 respectively associated with the stopping position or end-of-st roke position.

[0076] The control device CD calculates the signal Cl as a function of the signal SI and the signal C2 as a function of the signals S2 and S3. The signal Cl has the function of controlling the stroke of the upper pitting knife (not illustrated in Figure 11) while the signal C2 the function of selecting the upper and lower pitting knives (not illustrated in Figure 11) .

[0077] The signals S2 and S3 provide information associated with the width W of the pit 3 and the side positions of the pit 3.

[0078] Lastly, it is clear that modifications may be made to the subject of the invention described herein, and additional variants produced thereto, without departing from the scope of protection of the attached claims.

[0079] It is also clear that the precepts described in relation to the various solutions of the various embodiments may be combined, where compatible, without this constituting an invention .

Claims

CLAIMS1. A fruit pitting machine, the machine (1) comprising:- a pocket conveyor (7) configured to advance fruits(2) in an advancement direction (DA) along a determined path (P) and having a plurality of pockets (8) , each of which is configured to house a respective fruit (2) , which has a pit(3) provided with a distal end (6) with respect to the stalk attachment point (5) , and maintain the fruit (2) in a determined orientation;- a control device (CD) configured to acquire at least one signal (SI; SI, S2; SI, S2, S3) related to the position and / or dimension of the pit (3) with respect to a reference system, through at least one organ (29; 35; 43; 47; 54; 54, 49, 60) that is arranged at least partially in contact with the pit (3) at a pocket conveyor stop station (6) and calculate at least one control signal (Cl; Cl, C2) to arrange at least one pitting knife at a determined distance from the pit (3) .

2. The Machine as claimed in claim 1, and comprising at least one pitting knife (16; 16, 38; 47) , and an actuator (18; 51) mechanically coupled to the pitting knife to arrange the pitting knife (16; 16, 38; 47) in the fruit pulp (2) at a distance determined from the pit (3) based on the at least one control signal (Cl; C2) emitted by the control device (CD) according to the at least one signal (SI; SI, S2; SI;S2; S3) .3 . The machine as claimed in claim 1 or 2, wherein the control device (CD) comprises at least one sensor (30; 36; 53) configured to detect contact between said organ (29; 35; 43; 47) and the pit (3) .4 . The machine as claimed in claim 1 or 2, wherein said organ (29; 35; 43; 47; 54; 54, 59, 60) is actuated by means of an force controlled actuator (32, 61, 62) such that it can pass through the pulp and be stopped by the pit (3) ; the control device (CD) being configured to acquire the signal (SI; SI, S2, S3) correlated with the stopping position of said force controlled actuator (32, 61, 62) .5 . The machine as claimed in any one of the preceding claims, wherein said organ (29; 35; 54; 54, 59, 60) is a probe, which is arranged in a sensing station (28) dedicated to sensing the position of the pit (3) .6 . The machine as claimed in any one of claims 1 to 4 and comprising two blades (43) for cutting and subsequently separating the pulp of the fruit (2) into two halves; said organ being defined by at least one of said two blades (43) .7 . The machine as claimed in any one of claims 1 to 4, wherein said organ is the stoning knife (47) .8 . The machine as claimed in any one of claims 1 to 5, wherein said organ (35) has an elastic, fork-shaped end and is configured to deform upon insertion of the pit (3) intosaid end; the control device (CD) comprising an additional sensor (37) configured to acquire an additional signal (S2) related to the size of the pit (3) and / or the shape of the pit (3) .

9. The machine as claimed in any one of claims 1 to 5, wherein the control device (CD) is configured to acquire three signals (SI, S2, S3) correlated to the position of three points of the pit (3) with respect to a reference system, via at least three feelers (54, 49, 60) that are disposed in contact with the pit (3) at a detection station (28) .10 . The machine as claimed in claim 8 or 9, and comprising at least two upper pitting knives (16, 38) and at least two lower pitting knives (16, 38) of different sizes and operable by respective actuators (18; 19) , the control device (CD) being configured to selectively actuate one of said pitting knives (16, 28) by means of an additional control signal (C2) calculated according to the at least additional signal (S2; S2, S3) .11 . A fruit pitting method, the method comprising:- advancing a plurality of fruits (2) equioriented in an advancing direction (DA) along a determined path (P) , each fruit (2) having a pit (3) provided with an end distal (6) to the point of attachment (5) of the stalk;- acquiring at least one signal (SI; SI, S2; SI, S2,S3) correlated with the position of at least one reference point of the pit (3) with respect to a reference system by means of at least one organ (29; 35; 43; 47; 54; 54, 59, 60) that is arranged in contact with the pit (3) ; and- arranging a pitting knife (16; 16, 38; 47) in the pulp of the fruit (2) at a given distance from the pit (3) on the basis of a control signal (Cl; Cl, C2) calculated according to said signal (SI; SI, S2; SI, S2, S3) .12 . The method as claimed in claim 11 and comprising detecting contact between said organ (29; 35; 43; 47) and the pit (3) by means of at least one sensor (30; 36; 53) .13 . The method as claimed in claim 11 or 12, wherein said organ (29; 35; 43; 47; 54; 54, 59, 60) is actuated by means of a force controlled actuator (32; 32, 61, 62) such that it can pass through the pulp and be stopped by the pit (3) ; the method comprising acquiring the signal (SI; SI, S2, S3) according to the stopping position of said force controlled actuator.14 . The method as claimed in any one of claims 11 to 13, wherein the acquisition of said signal (SI; SI, S2; SI, S2, S3) is performed via said organ (29; 35; 43; 47; 54; 54, 59, 60) at a detection station (28) dedicated to detecting the position of the pit (3) .15 . The method as claimed in any one of claims 11 to 13, wherein acquiring said signal (SI) is carried out bymeans of two blades (43) for etching and subsequently separating the pulp of the fruit (2) into two halves.16 . The method as claimed in any one of claims 11 to 13, wherein the acquisition of said signal (SI) is performed by means of the pitting knife (47) .17 . The method as claimed in claim 11 or 12 and comprising acquiring an additional signal (S2) related to pit size (3) and / or pit shape (3) .18 . The method as claimed in any of claims 11 to 14, and comprising acquiring a plurality of signals (SI, S2, S3) via respective feelers (54, 59, 60) and correlated to different significant points of the pit (3) .19 . The method as claimed in claim 17 or 18, and comprising selecting one from among at least two upper pitting knives (16, 38) and at least one from among at least two lower pitting knives (16, 38) as a function of an additional control signal (C2) correlated with pit size (3) and / or pit shape (3) and calculated as a function of the additional signal (S2) or said plurality of signals (SI, S2, S3) .

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